基于自适应自抗扰的惯性稳定平台控制系统研究  

Research on Inertial Stability Platform Control System Based on Adaptive Self Disturbance Rejection

作　　者：孙碧原 邰源政 谷琼婵 刘云静 SUN Biyuan;TAI Yuanzheng;GU Qiongchan;LIU Yunjing(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066000,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,秦皇岛066000

出　　处：《组合机床与自动化加工技术》2025年第3期129-134,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金青年项目(62105058)。

摘　　要：为了满足惯性稳定平台系统在各种干扰源下的高精度控制性能需求,考虑了其内部参数不确定性和动静态质量不平衡等因素所造成的内外扰动,根据其组成结构及工作原理建立了框架动力学模型,研究了自抗扰控制器带宽和观测器带宽对系统抗扰能力的影响,在此基础上提出了一种基于BP神经网络和线性自抗扰的自适应控制方法来自动调整控制参数,并分析了整个闭环系统的稳定性。最后在不同扰动环境下的仿真结果验证了所提方法具有良好的抗扰性和自适应性。在40(°)/s的跟踪速度下动态及静态质量不平衡周期内误差绝对值积分分别降至0.05和0.48。In order to meet the high-precision control performance requirements of the inertial stability platform system under various interference sources,the internal and external disturbances caused by internal parameter uncertainty and dynamic and static mass imbalance were considered.A framework dynamics model was established based on its composition structure and working principle.The influence of the bandwidth of the self disturbance rejection controller and observer on the system′s anti-interference ability was studied.Based on this,an adaptive control method based on BP neural network and linear self disturbance rejection was proposed to automatically adjust control parameters,and the stability of the entire closed-loop system was analyzed.Finally,simulation results in different disturbance environments have verified that the proposed method has good anti-interference and adaptability.At a tracking speed of 40(°)/s,the absolute integration of errors during dynamic and static mass imbalance cycles is reduced to 0.05 and 0.48,respectively.

关 键 词：惯性稳定平台 自抗扰控制 质量不平衡 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]