摘要
针对空间高精度二维转台超低速控制性能不佳的问题,提出了一种基于滑模PI控制的卡尔曼滤波算法。首先在控制方面,设计了滑模PI控制算法,保证闭环系统稳定性。其次,在状态估计方面,设计了Kalman滤波算法,更准确地估计电机转速。最后将控制和状态估计进行一体化设计,提出了基于滑模PI控制的卡尔曼滤波算法,并应用于空间转台超低速控制。超低速控制性能的提高具体体现在:a)跟踪精度达到了设计要求;b)消除了非线性的摩擦力矩和电缆力矩对控制性能的影响;c)能够适应力矩系数和转动惯量的不确定性。试验结果表明,与传统算法比较,该算法提高了系统稳动态控制精度,对参数变化不敏感,对环境噪声有足够强的鲁棒性。
Aiming at improving the poor performance of ultra-low speed control of spatial high-precision 2D turntable, a Kalman filter algorithm based on sliding mode PI control is proposed in this paper. Firstly, the sliding mode PI control algorithm is designed to ensure the stability of the closed-loop system. Secondly, in the aspect of state estimation, the Kalman filtering algorithm is designed to estimate the motor speed more accurately. Finally, the integrated design of control and state estimation is proposed, and the Kalman filter algorithm based on the sliding mode PI control is applied to the ultra-low speed control of spatial turntable. The improvement of ultra-low speed control performance is embodied in: a) the tracking that meets the design requirements of accuracy;b) the influence of nonlinear friction torque and cable torque on the control performance that is eliminated;c) the uncertainty of moment coefficient and moment of inertia by adapting. The experimental results show that, compared with the traditional algorithm, the stability and dynamic control precision of the system is improved by using the proposed algorithm, and this algorithm is insensitive to parameter changes and has sufficient strong robustness to environmental noises.
作者
叶青
李雪
冯宇
李宇
方智毅
Ye Qing;Li Xue;Feng Yu;Li Yu;Fang Zhiyi(Shanghai Institute of Astronautical Systems Engineering,Shanghai 201109,China)
出处
《航天控制》
CSCD
北大核心
2021年第6期34-41,共8页
Aerospace Control
关键词
滑模PI控制
卡尔曼滤波
高精度
超低速控制
空间二维转台
Sliding mode PI control
Kalman filter
High precision control
Ultra-low speed control
Spacial two-axis turntable
