二自由度鲁棒IMC控制器设计  

Design of 2-DOF robustness internal model controller

作　　者：王伟兴[1] 赵华鹤[1] 王福超[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《电子测量技术》2015年第10期1-5,共5页Electronic Measurement Technology

基　　金：国家863高技术研究发展计划重点(2013AA122102)资助项目

摘　　要：在航空稳定平台中,为了解决扰动力矩对于视轴稳定性的影响,在鲁棒IMC控制原理的基础上,利用局部干扰观测器思想进行改进。结合二自由度控制思想,通过引入一组与误差量无关的控制器,将扰动抑制和跟踪精度分离,在保证控制系统鲁棒性的前提下,提高了稳定平台的抗干扰能力和稳定跟踪能力。对于本文方法进行了仿真和物理实验,设计实验如下:1)平台外框架不动,内框架以0.5 Hz,1°/s的正弦信号运动;2)外框架以1 Hz,6°/s的正弦信号作为速度扰动,内框架在补偿轴系摩擦力矩的前提下保持稳定。实验结论:二自由度鲁棒内膜控制系统有效的克服了轴系摩擦力矩所带来的影响,使得控制系统具有更好的输入响应特性,并将平台稳定精度从0.03°提升到0.004°,证明了本方法在保证良好输入响应特性的前提下,提高其抗干扰能力。In order to resolve the moment disturbance to the fast response of tracking moving targets of the stabilized platforms,2-DOF robustness internal model controller is designed with the part disturbance observer on the foundation of the robustness IMC.First,based on robustness IMC,improve on the system with the part disturbance observer. Following,introducing the controller with no contacting to the error while combining 2-DOF controller,to make the disturbance rejected ability and tracking ability apart.At the precondition of assuring the systemic robustness,improve the anti-disturbance ability and tracking ability.Ultimately,some simulations and experiments were carried out.While outside frame of the platforms was no movement,inside frame of the platforms does sinusoidal movement with the 0.5 Hz,1°/s,the 2-DOF internal model controller overcome the effect of the friction moment,make the system having better input-respond characteristic;while outside frame of the platforms does sinusoidal movement with the 1 Hz,6°/s to make the disturbance of the velocity,the stabilization precision of platform is increased from 0.03°to 0.004°.The method is testified to improve the anti-disturbance ability when assure the good input-respond characteristic.

关 键 词：IMC 控制 扰动抑制 二自由度控制 局部干扰观测器 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]