摘要
在经纬仪轴系伺服控制技术优化的研究中,为保证经纬仪自动、快速、准确瞄准目标,传统的轴系控制多采用PID技术,但由于实际应用中存在摩擦、参数摄动、及不确定干扰等多种非线性因素,PID控制的精度难以满足测量要求。文中提出自适应反步滑模控制,引入反步的虚拟控制量重新设计切换函数,利用自适应算法估计不确定性的上界,运用非线性观测器计算摩擦干扰,可在抑制滑模抖振的情况下,提高系统控制精度。运用Lyapunov稳定性理论证明了控制系统的全局渐进稳定性和误差的收敛性。仿真结果表明,非线性因素作用下的轴系位置跟踪精度能够达到系统要求,证明了上述控制策略的有效性。
Servo control technology of theodolite axis is the key link to target the pole device automatically, quickly and accurately. At present, control strategies of theodolite axis systems are mainly PID. However, in the practical application, there are various nonlinear factors such as friction, parameter perturbation, and uncertain ex- ternal interferences, which make it difficult for PID to meet the requirements of measurement precision. To solve this problem, an adaptive backstepping sliding mode control method which can improve the control precision in the case of inhibiting buffeting in the very great degree is proposed. This method recommends virtual control variable of back- stepping control to redesign the switch function, uses an adaptive algorithm to estimate the upper bound of uncertainty and calculates the frictional torque by a non - linear dual observers. System global asymptotic stability and error con- vergence can be proved by Lyapunov principle. The simulation results show that in the interference conditions the lo- cation tracking accuracy meets the system requirements, which demonstrates the effectiveness of the method.
出处
《计算机仿真》
CSCD
北大核心
2015年第6期296-301,共6页
Computer Simulation
关键词
经纬仪轴系
非线性系统
滑模控制
反步控制
Theodolite axis
Nonlinear system
Sliding mode control
Backstepping control
