摘要
分析了舵机加载系统的结构原理,建立其简化模型,并研究了最优控制在舵机加载系统中的应用。舵机加载系统中加载设备和舵机系统间存在强烈的耦合,针对舵机运动对加载系统跟踪性能的影响,应用前馈控制对舵机运动扰动进行补偿。为进一步提高系统性能,引入最优控制。根据舵机加载系统的特点,比较研究了3种不同的最优控制方法。常用的是工程近似最优控制方法,为进一步消除稳态误差,可以引入积分控制。与上述方法不同,对加载系统进行最优控制时,采用积分策略增广系统状态方程,并引入期望衰减度定义性能指标构造系统的最优控制。仿真结果表明,在文中所构造的最优控制和前馈控制的复合控制下,加载系统具有相对最佳的跟踪性能。
The configuration of the actuator loading system is introduced, and its mathematical model is built up. The application of optimal control in actuator loading system is studied. To compensate for actuator motion disturbance and improve system tracking performance and considering the strong coupling between the motor and actuator system, a torque controller is designed based on the feed forward control and optimal control . Three different optimal control methods are studied in comparison for the actuator loading system. The approximate optimal control is widely used in practice, and can be added with integral control to eliminate the steady error. An improved optimal control method is constructed by adopting the integral action in system state equation and expectation decay rate in the cost function. The efficacy of the complex controller with constructed optimal control and feed forward control is verified by simulation, and shows that the system has relatively optimum tracking performance.
出处
《电光与控制》
北大核心
2008年第9期73-76,共4页
Electronics Optics & Control
关键词
飞行控制
舵机加载系统
前馈控制
最优控制
积分策略
衰减度
flight control
actuator loading system
feed forward control
optimal control
integral action
decay rate
