输入指令整形技术在飞行仿真转台中的应用  

The Application of the Command Shaping Technique in a Flight Simulation Table

作　　者：李智铭[1] 徐庚保[1] 

机构地区：[1]北京航天自动控制研究所,北京100854

出　　处：《航天控制》1999年第4期31-37,共7页Aerospace Control

摘　　要：将广泛应用于机器人手臂控制等其它柔性控制系统的输入指令整形减振技术移植到转台应用中, 对这种技术的减振原理进行了详细的介绍, 并对输入指令整形器的设计方法、对系统参数变化的鲁棒性进行了探讨, 最后以M254 -90A电动三轴飞行仿真转台的中框为对象进行了仿真, 仿真结果表明, 输入指令整形器以前馈的形式作用于飞行仿真转台的控制系统时, 既不影响系统的稳定性,This paper introduces the command shaping technique to a flight simulation table for suppression of vibration, which is widely applied to the flexible control system such as the robot manipulator’s control system. Also, the principle for reducing vibration with this technique is introduced in detail. Then, the command shaper design and the shaper’s robustness to parameters’change are discussed. Finally, mathematical simulation is carried out on the M254-90A dynamoelectric three-axis flight simulation table. The results of simulation show that a command shaper can be used to suppress the mechanical resonance without affecting the stability and with the higher robustness to parameters’ change, when it is introduced into a flight simulation table’s control system in the feedforward form.

关 键 词：导弹 飞行仿真 输入指令 整形 飞行仿真转台 

分 类 号：TJ765.43[兵器科学与技术—武器系统与运用工程]