摘要
基于前馈控制技术对动态转台进行控制研究,分析了PID控制在动态转台控制中对于响应带宽提高的缺点。通过实验与Matlab结合辨识了开环系统模型,并与实际数据进行了比对。建立了系统状态观测器,并设计了基于观测器与前馈控制结合的控制器,证明了观测器与控制器的稳定性。最后通过实验证明了观测器与控制器的有效性。
The control based on state observer of dynamic turntable is studied.The disadvantage of PID in increasing the bandwidth of dynamic turntable is analyzed.In order to design the state observer,the experiment of open-loop is carried out.The open-loop model is got by Matlab.The model and experimental data are compared.The state observer and the controller based on the observer are designed.The stability of observer and controller is proven.The effectiveness of the observer and controller is proven by the experiment in single axis turntable.
出处
《导航与控制》
2016年第1期103-109,46+92,共9页
Navigation and Control
关键词
状态观测器
模型辨识
带宽
双十
动态转台
state observer
model identification
bandwidth
double ten
dynamic turntable
