一种变参数的复合自抗扰舵机控制器设计  

A Variable Parameter Complex Active-Disturbance Rejection Servo Controller Design

作　　者：侯虹[1] 王龙[1] 李建军[1] 

机构地区：[1]中国空空导弹研究院,河南洛阳471009

出　　处：《航空兵器》2012年第4期16-19,23,共5页Aero Weaponry

摘　　要：基于导弹舵机系统的特点,结合误差分段PID响应速度快和自抗扰复合控制抗扰动好的优点,进行位置环控制,尝试根据误差变化自适应调节误差增益系数和微分增益系数,运用遗传算法优化参数,对负载力矩外部扰动和模型参数摄动进行补偿,通过与PID控制比较,证明变参数复合自抗扰控制舵机达到指标要求,动态响应相移、幅值衰减都优于分段PID,大动态负载扰动输出脉动频率小,在电枢电阻、转动惯量变化时,具有很好的快速性和鲁棒性。Based on the characteristics of missile servo system, a novel active-disturbance rejection controller（ARDC） which combined with the error subsection PID rapidity is designed to control positional loop. The error gain and the differential gain are auto adjusted with the error. By making use of genetic algorithm to optimize the parameters, the disturbances such as load torque and model parameters＇ varia- tion are compensated. According to the simulation results, the active-disturbance rejection controller servo system meets the need of design. By comparing with the error subsection PID controller, the variable pa- rameter complex ADRC has smaller phase difference and magnitude attenuation in dynamic response, and the ripple frequency over large dynamic load is also be decreased. When the parameters such as stator re- sistor and rotor inertia are varied, the servo system will show the advanced characteristics of rapidity and robustness.

关 键 词：舵机控制 自抗扰控制 参数优化 

分 类 号：TJ760.35[兵器科学与技术—武器系统与运用工程]