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针对飞行模拟转台伺服系统跟踪控制问题,提出了一种基于非线性干扰观测器(nonlinear disturb-ance observer,NDO)的反推全局滑模控制方案。该方案利用NDO观测系统的参数不确定性及非线性摩擦干扰,通过选择适当的设计参数使观测误差指数收敛,进而对引入NDO的系统采用反推全局滑模设计控制器,控制律的设计保证了闭环系统的稳定性。仿真结果表明,所提控制方案能够有效克服参数不确定性及非线性摩擦干扰的影响,实现了转角位置的精确跟踪,并且有效去除了控制抖振。
Aiming at the tracking control problem of flight simulator turntable servo system, a nonlinear sliding-observer (NDO) -based push-feedback global sliding mode control scheme is proposed. In this scheme, the parameter uncertainty and nonlinear friction interference of NDO observing system are used, and the observer error index is converged by selecting the appropriate design parameters, and then the design of the control law is guaranteed for the system that introduces NDO by using the inverse sliding mode global sliding mode controller Closed-loop system stability. The simulation results show that the proposed control scheme can effectively overcome the influence of parameter uncertainties and nonlinear frictional disturbances, achieve accurate tracking of the rotational position and effectively eliminate the control chattering.