二轴框架镇定回路的保守稳定性设计研究  

Feedback Stabilization of a Two-Axis Gimbal System Via Conservative Stability Analysis

作　　者：詹世涛[1] 闫维新[1] 付庄[1,2] 于锦江[3] 赵言正[1] 

机构地区：[1]上海交通大学机械系统与振动国家重点实验室,上海闵行区200240 [2]哈尔滨工业大学机器人技术与系统重点实验室,哈尔滨150001 [3]上海航天技术研究院,上海徐汇区200233

出　　处：《电子科技大学学报》2013年第6期939-943,共5页Journal of University of Electronic Science and Technology of China

基　　金：上海市航天基金(ZYJ09-052);机器人与系统国家重点实验室研究基金(SKLRS-2010-ZD-06)

摘　　要：探讨一类yaw-pitch型结构的位标器在系统存在结构参数不确定性和执行元件存在输出饱和非线性的条件下的镇定问题。基于刚体动力学理论推导了二轴框架结构的动力学模型,得到了基座角运动因素导致系统参数摄动的机制,并以此为基础得到了系统的结构不确定性描述;基于区间矩阵保守稳定性的判别定理和线性矩阵不等式组,对系统的两类稳定空间进行保守估计,给出了系统可镇定的外界条件和镇定系统的状态反馈矩阵的寻优方法。所得结论可为优化设计稳定的位标器控制回路提供理论依据。This paper discusses the stabilization problem of a yaw-pitch gimbaled seeker system under the condition that system uncertainties and actuator saturation nonlinearity cannot be ignored. Based on gimbal dynamics, a dynarnies model is formulated for the two-axis gimbaled seeker, and the perturbation effect of platform angular motion to system configuration is studied. The variation intervals of the perturbed parameters are furthermore estimated, and the uncertainty description of the gimbaled system is obtained. Two stable regions are conservatively estimated by judging the stability of interval matrix and solving the linear matrix inequalities （LMIs）, respectively, and then the condition under which the two-axis gimbaled seeker earl be stabilized and the method via which the system can be optimally stabilized are presented. The analysis method presented in this paper can provide uidelines for the optimal design of stable control loop for the two-axis imbaled seeker.

关 键 词：反馈控制 线性矩阵不等式 稳定性 不确定系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]