摘要
针对运载火箭电动伺服机构谐振频率过低,而传统陷波滤波器算法会降低系统的快速性问题,提出了一种基于自抗扰控制(ADRC)的微分前馈控制算法。在开环等效增益相近的情况下,比较了系统在传统PID控制和一阶ADRC控制方式下的阶跃响应和抗扰性能;对输入正弦指令的情况,比较了系统在比例+扩张状态观测器(ESO)和有限时间比例(FTP)+ESO这两种控制方式下有无输入微分前馈(IDF)的跟踪性能。仿真和实验结果均表明,在常规ADRC中引入IDF,可有效提高电动伺服机构对时变输入的跟踪精度。
To solve the problem of low resonant frequency of the launch vehicle s electro-mechanical actuator and the decrease of the system s rapidity brought by the traditional notch filter algorithm,a differential feed forward control algorithm based on auto-disturbance rejection control(ADRC)is proposed.The step response and anti-jamming performance of the system in the traditional PID control and first-order ADRC control methods are compared under the condition that the open-loop equivalent gains are close to each other.For the case of inputting sine commands,the system s tracking performance is compared with input derivative feed-forward(IDF)under two control modes,which are the proportional and expansion state observer(ESO)and the finite time proportional(FTP)and ESO.The simulation and experimental results show that the introduction of IDF in conventional ADRC can effectively improve the electromechanical actuator s tracking accuracy with time-varying input.
作者
崔业兵
薛靓
郑佳伟
曾凡铨
左月飞
CUI Ye-bing;XUE Liang;ZHENG Jia-wei;ZENG Fan-quan;ZUO Yue-fei(Shanghai Institute of Spaceflight Control Technology,Shanghai 200233,China)
出处
《导航定位与授时》
2018年第6期60-67,共8页
Navigation Positioning and Timing
基金
上海伺服系统工程技术研究中心(15DZ2250400)
关键词
电动伺服机构
自抗扰控制
扩张状态观测器
输入微分前馈
等效增益
Electro-mechanical actuator
Active disturbance rejection control
Extended state observer
Input derivative feed-forward
Equivalent control gain
