基于干扰观测器的飞行仿真转台滑模控制器  

Research of Sliding Mode Controller for Flight Simulator Based on Disturbance Observer

作　　者：刘晓东[1] 吴云洁[1] 田大鹏[1] 王俊峰[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,飞行器控制一体化技术重点实验室,北京100191

出　　处：《上海交通大学学报》2011年第3期393-397,402,共6页Journal of Shanghai Jiaotong University

基　　金：教育部新世纪优秀人才计划项目(NCET-07-0044)

摘　　要：针对飞行仿真转台中干扰观测器(DOB)对等效干扰项估计不足而影响跟踪精度的问题,提出一种基于DOB的滑模变结构控制器(SMVSC).它引入了附加干扰补偿项以及跟踪指令的速度信号和加速度信号,定义了一种新的滑模趋近律形式,并满足系统广义滑模存在条件.通过某单轴飞行仿真转台的实验结果表明,与传统的比例微分(PD)控制器+DOB方案相比,该控制方案提高了跟踪精度,同时,对系统参数变化和力矩扰动也具有更强的鲁棒性.Because disturbance observer（DOB） underestimates the equivalent disturbances in flight simulator system,one sliding mode variable structure controller（SMVSC） based on DOB was proposed.The controller introduces additional compensation for disturbances,velocity and acceleration of tracking signals,and a new sliding approach law for the SMVSC was defined,then the system meets the conditions for the existence of generalized sliding mode.The experiments on one single-axis flight simulator show that the proposed control scheme improves the tracking performance with more robustness against parameter uncertainty and extern disturbance,contrasted with the traditional PD＋DOB scheme.

关 键 词：干扰观测器 滑模变结构控制 飞行仿真转台 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]