摘要
针对五自由度气浮微重力平台动力学参数难以确定、重心漂移这两大应用难点,该文推导了线性化的动力学模型,并且使用自适应控制方法完成了参数自整定以及误差的渐进收敛。在实物实验中针对某一给定的跟踪任务,对比控制力矩法和自适应方法的结果表明,带有参数自适应的控制率不仅使得系统参数收敛,同时也极大提高了控制品质。虽然参数自适应方法已经在众多领域得到了应用,但是大多控制对象待辨识的参数数量较少或具备天然的参数线性结构,因此,该文是自适应控制在高维参数辨识问题上的一次重要实践,同时也证明了该文所推导的动力学方程与自适应率的正确性。
In order to solve the two application problem of 5-DOF air floating microgravity platform,which are difficult to determine the dynamic parameters and center of gravity drift,a linearized dynamic model is derived in this paper,and the self-tuning parameters and the gradual convergence of errors are achieved by using the adaptive control method.In the physical experiment,for a given tracking task,the comparison between the control torque method and the adaptive method show s that the control rate with parameter adaptive not only makes the system parameters converge,but also greatly improves the control quality.Although the parameter adaptive method has been applied in many fields,most of the control objects have a small number of parameters to be identified or have a natural parameter linear structure.Therefore,this paper is an important practice of adaptive control in the problem of high-dimensional parameter identification,and also proved the correctness of the dynamic equation and the adaptive rate derived in this paper.
作者
李科
王善达
王燕波
邓松波
常冬艳
陈志鸿
LI Ke;WANG Shan-da;WANG Yan-bo;DENG Song-bo;CHANG Dong-yan;CHEN Zhi-hong(Beijing Institute of Precision Mechatronics and Controls,Beijing 100076,China;Laboratory of Aerospace Servo Actuation and Transmission,Beijing 100076,China)
出处
《液压气动与密封》
2022年第6期57-62,共6页
Hydraulics Pneumatics & Seals
