摘要
为提高三轴平台伺服系统性能,提高系统的跟踪精度,采用先辨识出被控制系统的数学模型,然后基于准确的系统传递函数,设计速度扰动观测器(VDOB),测出外部力矩和载体速度的扰动对平台速度的影响,用速度扰动观测器对这一部分进行等量补偿,在MATLAB中对系统采用PI算法和PI+VDOB算法进行仿真比较。实验结果表明:采用PI+VDOB的方法系统的超调量和调节时间更小。最后,实验结果表明,在幅值5°,频率2 Hz的载体正弦速度扰动下,引入VDOB的算法,平台的速度误差从±75μrad减小到了±50μrad。实验结果证明引入VDOB算法的有效性。
In order to improve the performance of the servo system of the three-axis platform and the tracking accuracy of the system,the mathematical model of the controlled system is identified firstly in this paper.Then the velocity dis-turbance observer(VDOB)is designed based on the accurate system transfer function.The influence of disturbance of external moment and carrier speed on the platform speed is measured.The velocity disturbance observer is used to compensate this part equally.The PI algorithm and PI+VDOB algorithm are used to simulate and compare the system in MATLAB.The experimental results show that PI+VDOB method can reduce the overshoot and regulation time of the system.Finally,physical experiments are carried out on this method.Under the disturbance of carrier sinusoidal ve-locity with amplitude of 5 degrees and frequency of 2 Hz,the VDOB algorithm is introduced and the velocity error of the platform is reduced from 75 urad to 50 urad.The experimental results show that the VDOB algorithm is effective.
作者
孙东明
张立中
白杨杨
SUN Dong-ming;ZHANG Li-zhong;BAI Yang-yang(School of Mechatronic Engineering,Changchun University of Science and Technology,Changchun 130022;Fundamental Science on Space-Ground Laser Communication Technology Laboratory,Changchun University of Science and Technology,Changchun 130022)
出处
《长春理工大学学报（自然科学版）》
2019年第6期34-37,107,共5页
Journal of Changchun University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金重大研究计划(91338116)
关键词
三轴平台
辨识
频率特性
传递函数
扰动观测器
three-axis satellite platform
identification
frequency characteristics
transfer Function
disturbance observer
