基于鲁棒自适应反步法的四轴平台稳定回路控制  

Stabilization Loop Control of Four-Axis Inertial Platform Based on Robust Adaptive Backstepping Method

作　　者：王慎航 张焕鑫[1] 杨轶 许琦 林瑞仕[1] 杨名军 Wang Shenhang;Zhang Huanxin;Yang Yi;Xu Qi;Lin Ruishi;Yang Mingjun(Beijing Aerospace Automatic Control Institute, Beijing 100854, China)

机构地区：[1]北京航天自动控制研究所,北京100854

出　　处：《航天控制》2018年第2期3-8,共6页Aerospace Control

摘　　要：针对四轴平台稳定回路系统存在模型未知、参数不确定以及外界干扰的问题,提出了一种鲁棒自适应反步控制方法。首先,结合反步法理论,设计合适的虚拟控制量,补偿了参数不确定性及外界干扰对稳定回路的影响;然后,利用Lyapunov稳定性理论和光滑投影算法,设计了参数自适应律,实现了对稳定回路中未知参数的估计。与传统方法相比,仿真结果表明,该方法对模型未知、参数不确定以及外界干扰有良好的抑制能力,能确保平台稳定回路有良好的鲁棒和跟踪性能。A robust adaptive backstepping method is proposed for stabilization loop control of four-axis inertial platform under unknown model,uncertain parameters and external disturbances. Firstly,the appropriate auxiliary control term is designed,which compensates uncertain parameters and external disturbance by backstepping theory. Then,adaptive laws of parameters are obtained by using Lyapunov theory and smooth projection arithmetic,which estimate the unknown model. By comparing with the traditional method,the simulation example shows that the proposed strategy can guarantee a good performance of tracking and robustness as well as conquering the effects of unknown model,uncertain parameters and external disturbances.

关 键 词：四轴平台 稳定回路 鲁棒自适应反步法 不确定性 

分 类 号：V441[航空宇航科学与技术—飞行器设计]