基于超稳定理论的三轴台自适应控制研究  

Research on Adaptive Control for Three-axle Turntable Based on Hyper-stability Theorem

作　　者：李醇铼[1] 梅晓榕[1] 郭忠来[2] 崔杰[1] 柏桂珍[1] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001 [2]酒泉卫星发射中心,酒泉732750

出　　处：《系统仿真学报》2006年第z2期865-868,871,共5页Journal of System Simulation

摘　　要：针对三轴转台电控伺服系统中的非线性、参数时变性、转台的快速性和大时变负载干扰,控制器用Popov超稳定性和正性理论进行设计,设计的信号综合并联自适应模型跟随控制器可解决系统在运行过程中参数发生变化对控制性能影响的问题。仿真结果表明,该方法能有效抑制参数扰动及外力干扰,保证系统快速性要求,并具有很好的鲁棒性。For the nonlinearity and time variable parameters and the speediness request and the unknown disturbances of a three-axle table, a control design of signal intergration parallel structure adaptive model following controller based on Popov hyper-stability theorem and positivity concept was addressed. The method can solve the problem of the influenced control performance because the parameters are variable during the operation of turntable, and the designed controller can moderate the unknown and time-varying external load disturbance effectively. The simulation results show that this approach satisfies the speediness request of simulator and has much robustness.

关 键 词：三轴转台 Popov超稳定性理论 并联模型 自适应控制 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程] TP273[自动化与计算机技术—控制科学与工程]