摘要
为提高稳定平台伺服控制系统对摩擦等扰动力矩的抑制性能,将一种改进的Dual摩擦模型应用到系统中,通过扰动观测器估计扰动力矩值并对其补偿。本文建立了稳定平台的伺服控制模型,对改进Dual摩擦模型进行了原理分析,然后分析了扰动观测器估计扰动的工作原理,将摩擦模型和扰动观测器应用到稳定平台控制系统中。通过数值仿真分析表明,改进的Dual模型能够表现出稳定平台的低速姿态调整时的运行特性,使用扰动观测器能够较为准确地估计出摩擦等扰动力矩的大小,通过对摩擦等扰动力矩进行补偿,提高了稳定平台的运行稳定性。
In order to improve the disturbance suppression performance of friction torque of a stable platform servo control system,an improved Dual friction model was applied to the system,and used disturbance observer（DOB）to estimate the disturbance torque and then compensated.This paper built the model of the stable platform servo control system,described the principle of the improved Dual friction model,analyzed the working principle of perturbation observer and then applied friction model and disturbance observer to the servo control system.The simulation results show that,the improved Dual model presented the operating characteristics for the stable platform in a low-speed attitude adjustment.Then by using the disturbance observer,the disturbance torque was accurately estimated.Finally,the stability of stable platform was improved by compensating for disturbance torque.
作者
李坤龙
张爱军
严璐
洪琪璐
Li Kunlong;Zhang Aijun;Yan Lu;Hong Qilu(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)
出处
《国外电子测量技术》
2018年第1期97-101,共5页
Foreign Electronic Measurement Technology
关键词
伺服控制
稳定平台
摩擦模型
扰动观测器
servo control
stable platform
friction model
disturbance observer
