仿真转台控制系统变结构自适应控制技术研究  

Research on variable structure adaptive control technology for simulation turntable control system

作　　者：李亚楠[1] 胡吉昌 王胜利[1] 赵庆 王媛媛[1] LI Yanan;HU Jichang;WANG Shengli;ZHAO Qing;WANG Yuanyuan(Beijing Institute of Aerospace Control Device,Beijing 100039,China)

机构地区：[1]北京航天控制仪器研究所,北京100039

出　　处：《导航定位与授时》2024年第5期153-162,共10页Navigation Positioning and Timing

摘　　要：仿真转台是航空航天及工业领域重要的仿真设备。为了使仿真转台控制系统适应负载转动惯量变化,并增强其对控制系统数学模型参数摄动、外界干扰等的鲁棒性,现将自适应理论应用于仿真转台的伺服控制系统,并使用变结构滑模控制设计控制律,添加全程滑动模态因子,设计了一种基于现代控制的复合自适应控制器。使用Simulink和Matlab搭建仿真环境,在20 Hz的正弦信号下得到负载变化前后的仿真结果。PID控制系统和自适应控制系统的响应幅值误差分别增大了3.6%和1.3%,证明了自适应控制有效地降低了系统的误差。当输入阶跃信号时,自适应控制系统将稳态误差由3.2%减小到0.3%。最后在仿真转台上进行了实物实验。在幅值0.1°频率20 Hz的正弦信号下,添加负载及干扰后,PID控制系统的响应幅值误差增大了6.6%,而自适应控制系统的幅值误差仅增大2.4%,比PID控制系统误差变化小。实验结果表明,自适应控制器的控制效果优于PID控制器,所设计的自适应控制器提高了控制系统对负载变化和干扰的鲁棒性。The simulation turntable is a critical piece of simulation equipment in the aerospace and industrial sectors.In order to improve the robustness of the simulation turntable control system against changes in the load moment of inertia,as well as variations in the mathematical model parameters and external disturbances,the adaptive theory is used in the servo control system of the simulation turntable.The control law is designed by using variable structure sliding mode control,and a composite controller based on modern control is developed by incorporating a full sliding mode factor.The simulation experimental environment is established by using Simulink and Matlab platforms to compare the simulation results before and after the load change under a unit sinusoidal signal of 20 Hz.The response amplitude error of the PID control system increases by 3.6%,while that of the adaptive control system increases by only 1.3%,demonstrating the effectiveness of adaptive control in reducing system error.When a step signal is input,the steady-state error is reduced from 3.2%to 0.3%by the adaptive control system.Finally,a real experiment is performed on the simulation turntable.Under the sinusoidal signal with an amplitude of 0.1°and a frequency of 20 Hz,after adding load and disturbance,the response amplitude error of the PID control system increases by 6.6%,while the amplitude error of the adaptive control system increases by only 2.4%.This indicates that the change in error of the adaptive control system is less than that of the PID control system.The experimental results show that the adaptive controller outperforms the PID controller in terms of control effectiveness.The designed adaptive controller improves the robustness of the control system against load changes and disturbances.

关 键 词：仿真转台 自适应控制 变结构控制 全程滑动模态因子 伺服控制系统 半实物仿真平台 

分 类 号：V355[航空宇航科学与技术—人机与环境工程]