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针对飞行模拟转台这一实际的不确定伺服系统,提出一种新型控制策略,该控制策略是建立在名义模型基础上的一种新型全鲁棒滑模控制器。控制系统由两种控制器构成,一种是针对实际对象的全鲁棒滑模控制器,另一种是针对名义模型的积分反演滑模控制器。采用名义模型与实际对象之间的建模误差设计全鲁棒滑模控制器,采用积分反演滑模控制器来保证控制精度,全鲁棒性能由全局滑模控制器来保证。采用Lyapunov方法实现了两种控制器的稳定性分析。以飞行模拟转台伺服系统为被控对象,针对正弦和阶跃响应的仿真结果表明,采用所提出的控制方法,可实现全局鲁棒性并保证较高的位置跟踪精度。
Aiming at the actual uncertain servo system of flight simulator, a new control strategy is proposed. The control strategy is a new type of fully robust sliding mode controller based on the nominal model. The control system consists of two kinds of controllers, one is a fully robust sliding mode controller for the actual object and the other is an integral inversion sliding mode controller for the nominal model. The whole robust sliding mode controller is designed by the modeling error between the nominal model and the actual object. The integral inversion sliding mode controller is used to ensure the control accuracy. The global robustness is guaranteed by the global sliding mode controller. The stability analysis of two kinds of controllers is implemented by Lyapunov method. Taking the flight simulator turntable servo system as the controlled object, the simulation results for the sine and step responses show that the proposed control method can achieve global robustness and ensure high position tracking accuracy.