摘要
为了克服柔性传动及控制对象模型参数的不确定性给航空相机俯角稳速系统带来的速度波动,引入干扰观测器以改善俯角系统的稳速性能.在传统干扰观测器基础上,通过系统的标称模型,构造了H_(∞)鲁棒干扰观测器.相比于传统干扰观测器,该方法不仅考虑了外部干扰和测量噪声对控制系统稳定性的影响,还考虑了模型参数不确定性对系统稳定性的影响.对带有干扰观测器的反馈控制的鲁棒稳定充分条件进行研究,并选取满足此充分条件的加权函数,利用线性矩阵不等式方法,通过解决一系列凸优化问题,得到该H_(∞)鲁棒干扰观测器,该方法保证了闭环反馈系统的鲁棒稳定性.实验结果表明,在给定速度为1°/s的情况下,俯角系统速度稳态精度从0.154°/s提高到了0.053°/s.从而证明了该方法的有效性,图像质量获得了提高.
In order to overcome speed fluctuation of the control system of aerial camera which is brought from system flexible transmission and model parameter uncertainty of control object,the disturbance observer was introduced to improve stabilization precision of speed.On the basis of conventional disturbance observer,by introducing a nominal model of the system,the structure of H_(∞)robust DOB was established.Compare to the conventional methods,the proposed method takes into account the influence from not only disturbance and measure noise but also model parameter uncertainties to the system's stability and performance.Moreover,the sufficient condition on the robust sta bility against model uncertainties in the feedback system with disturbance observer is studied,weighting functions satisfying this condition are consequently selected.Utilizing the Linear Matrix Inequality method,the H robust disturbance observer can be obtained by solving a series of convex optimization problems,the proposed method could guarantee the robust stability of closed-loop system.Experimental results show that in the case of the given speed is 1°/s,the speed stabilization precision is increased from 0.154°/s to 0.053°/s.The experiment proves that the proposed method is effctive,the quality of image is improved.
作者
李昕阳
李清军
张雪菲
杨永明
张景国
Li Xinyang;Li Qingjun;Zhang Xuefei;Yang Yongming;Zhang Jingguo(Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2015年第S01期13-19,共7页
Chinese Journal of Scientific Instrument
基金
国家863高技术研究发展计划(2009AA7010102)项目资助
