摘要
针对某型号转台存在的轴间非线性耦合,运用非线性解耦的方法进行了解耦设计,并基于解耦后的系统提出用超稳定性和正性的方法进行自适应模型跟随控制器设计,来解决系统在运行过程中参数发生变化对控制性能影响的问题。仿真结果表明,当系统参数在一定范围变化甚至被控对象模型阶次发生变化时,所设计的自适应模型跟随控制器仍能保证系统具有良好的控制性能。
In view of nonlinear coupling between frames of a three-axle table, the method of nonlinear decoupling is presented. And the design of adaptive model following controller based on hyperstability theorem and positivity concept is proposed. The method can solve the problem of the influenced control performance because the parameters are variable during the operation of turntable. The simulation results show that the designed controller can achieve good performance when the parameters are variable in a range, even when the controlled mathematic models order is variable.
出处
《中国惯性技术学报》
EI
CSCD
2003年第5期5-11,共7页
Journal of Chinese Inertial Technology
