定位器模型参考自适应控制系统设计  

Model reference adaptive control system design of localizer

作　　者：方强[1] 陈利鹏 费少华[1] 梁青霄[3] 李卫平[3] 赵金锋[3] 

机构地区：[1]浙江大学机械工程学系,浙江杭州310027 [2]武汉船用机械有限责任公司,湖北武汉430084 [3]西安飞机工业(集团)有限责任公司,陕西西安710089

出　　处：《浙江大学学报（工学版）》2013年第12期2234-2242,共9页Journal of Zhejiang University：Engineering Science

基　　金：国家科技支撑计划资助项目(2011BAF13B10)

摘　　要：为了消除飞机大部件调姿系统中大部件质量难以在定位器间均衡分配引起的定位器位置伺服控制的不确定性,提出基于模型参考自适应控制的闭环位置伺服控制系统.在控制系统的设计中,根据李雅普诺夫稳定理论求解控制律和自适应律,确定自适应律算法所涉及矩阵的类型.为避免激发系统的高频未建模动态,引入低通滤波器,以保证运动的平稳性和准确性.实验结果证明：基于模型参考自适应控制的伺服系统可以在定位器负载发生变化时保持控制系统性能的一致性,保证动态误差在0-0.05mm,稳态误差为零.In the airplane large component pose adjusting system,unbalanced load distribution of large components between three-coordinate localizers can cause systemic uncertainties of the control system, which results in the decrease of dynamic and static position precision.In order to eliminate the negative impact of systemic uncertainties,a close loop servo system based on model reference adaptive control（MRAC）designed for three-coordinate localizer was present.Firstly,the model of signal motion axis was built to get a priori knowledge of the control object.Then the control law and the adaptive law were acquired by Lyapunov method,and the matrixes related to the adaptive law were also chosen properly.In order to suppress the interference of the error vibrations to the position precision,a Butterworth filter was added to the position servo system.The experimental results show that：the new servo control system can eliminate the uncertainties effectively,and also has excellent dynamic response,with the dynamic position error not exceeding 0.05mm and the static position error is zero.

关 键 词：定位器 模型参考自适应控制 低通滤波器 位置控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]