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以飞行器姿态控制为背景,设计了俯仰、横侧(解耦)自抗扰控制器。通过扩张观测器的动态补偿获得控制器的鲁棒性。通过被控对象执行机构特性和所希望的闭环性能确定控制器参数的范围。被控对象的状态方程和扩张观测器方程组合在一起,形成扩展状态方程,把控制参数的确定,转化为线性矩阵不等式的求解。仿真结果表明,控制器具有很强的鲁棒性,适应性,快速性和优良的控制品质。
Taking the aircraft attitude control as the background, a pitch and lateral (decoupled) ADRC controller is designed. The robustness of the controller is obtained by expanding the dynamic compensation of the observer. The range of controller parameters is determined by the controlled object actuator characteristics and the desired closed-loop behavior. The state equation of the controlled object and the expansion observer equation are combined to form an extended equation of state, which transforms the determination of the control parameter into the solution of the linear matrix inequality. The simulation results show that the controller has strong robustness, adaptability, quickness and excellent control quality.