基于扩张状态观测器的飞行仿真转台鲁棒控制  

Robust Control Based on Extended State Observer for Flight Simulator

作　　者：吴云洁[1,2] 华岳阳 肖松[1,2] 

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,北京100191 [2]飞行器控制一体化技术重点实验室,北京100191

出　　处：《系统仿真学报》2014年第11期2663-2667,共5页Journal of System Simulation

基　　金：国家自然科学基金(91216304)

摘　　要：飞行仿真转台作为半实物仿真和测试的关键设备,其性能直接影响仿真实验和测试结果的可靠性。针对飞行仿真转台容易受到外界干扰和参数变化影响的特点,研究了基于扩张状态观测器的鲁棒控制方法。根据系统参数的辨识程度设计了两种不同的扩张状态观测器。利用扰动估计值进行动态补偿使被控对象线性化,并在此基础上设计了等效速度和加速度前馈。根据扩张状态观测器不能完全估计扰动的特点引入滑模控制项以增强系统鲁棒性。实验表明提出的方法针对飞行仿真转台系统的不确定性具有很强的鲁棒性,并具有良好的跟踪性能。Flight simulator is crucial equipment in semi-physical simulations and tests, whose performance is critical to the validity of simulation experiments and test results. Robust control based on extended state observer （ESO） was studied for flight simulator which was susceptible to external disturbance and parameter variation. Two kinds of extended state observer were designed based on the identification degree of system parameters. Estimation of disturbance was used for dynamical compensation to make the control object linear, and equivalent velocity and acceleration feed forward control were proposed based on the linearized model. Sliding mode control item was introduced to strengthen the robustness of the system according to the characteristic that ESO cannot entirely estimated disturbance. Experimental results show that the proposed scheme possesses strong robustness against uncertainties, and good tracking performance.

关 键 词：飞行仿真转台 不确定性 扩张状态观测器 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]