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研究设计二维飞行机构运动系统控制器,探讨在改善跟踪误差和轮廓误差的同时,具有良好的抗干扰性能。先根据单轴的跟踪误差和抗干扰能力对单轴控制器进行设计,加入前馈和反馈控制以提高响应速度和位置跟踪精度;再利用交叉耦合补偿控制器以减小二维轮廓误差。仿真结果证明此单轴控制器相比传统的PID控制器具有良好的跟踪性能和抗干扰性能,并证明交叉耦合补偿能有效减小系统轮廓误差。
Research and design of two-dimensional flying body motion system controller to explore to improve the tracking error and contour error at the same time, with good anti-jamming performance. Firstly, the uniaxial controller is designed based on single-axis tracking error and anti-jamming capability, and feedforward and feedback control are added to improve the response speed and position tracking accuracy. The cross-coupling compensation controller is used to reduce the two-dimensional contour error. Simulation results show that this single-axis controller has better tracking performance and anti-jamming performance than the traditional PID controller. It also proves that cross-coupling compensation can effectively reduce the system contour error.