摘要
针对考虑非线性摩擦、参数不确定性和电机力矩波动等不确定干扰的飞行模拟转台伺服系统鲁棒跟踪控制问题,提出了一种基于非线性干扰观测器的自适应反步全局滑模变结构补偿控制方案;该方案采用反步控制方法设计转速期望虚拟控制,然后利用非线性干扰观测器观测系统复合不确定性干扰,在此基础上,对引入非线性干扰观测器的系统设计自适应全局滑模变结构控制器,实现了飞行模拟转台伺服系统期望转角信号的鲁棒跟踪控制;通过Lyapunov稳定性理论证明了闭环系统全局渐进稳定,且系统跟踪误差渐进收敛到零;仿真研究了非线性摩擦对飞行模拟转台伺服系统性能的影响,对比了高增益PD补偿控制方法与基于非线性干扰观测器的自适应反步全局滑模变结构控制方法的控制效果。
A method of backstepping sliding mode controller based on non--linear disturbance observer is proposed for the flight simula- tor servo systems considering the nonlinear friction, parameter uncertainty and torque fluctuation. In this method, the backstepping control is used to design virtual control desired speed, then nonlinear disturbance observer is used to observe the composite uncertain disturbance of the system. On this basis, an adaptive global sliding mode controller is designed for the system using nonlinear disturbance observer, which can achieve the robust tracking control of desired angle signal of the flight simulator servo systems. Lyapunov based analysis proves the as- ymptotically stable performance of the system, and the tracking errors can asymptotically converge to zeros. The influence of the nonlinear friction to the flight simulator servo systems is investigated using simulation, and the effects of the PD controller and the backstepping sliding mode controller are compared.
出处
《计算机测量与控制》
2016年第12期67-70,共4页
Computer Measurement &Control
关键词
非线性干扰观测器
反步滑模控制
飞行模拟转台
不确定干扰
non-linear disturbance observer
backstepping sliding mode control
flight simulator servo systems
uncertain disturbance
