摘要
针对空间扫描机构在多工作模式下高精度控制的问题,文章提出了采用自抗扰技术设计非线性比例、积分和微分(ProportionalIntegralDerivative,PID)控制器的方法。根据扫描型光学遥感器任务要求,扫描运动机构的工作模式为扫描范围和扫描速度多种组合,即多档扫描范围及同一扫描范围内两档扫描速度。由于扫描机构运动控制精度要求高,采用一组控制参数无法实现多模式下的高精度运动控制,经过对扫描机构链路分析,认为摩擦力矩在不同工作模式下的非线性程度会对控制系统造成影响。因此,文章引入摩擦力矩模型对控制系统进行补偿,采用自抗扰技术设计非线性PID控制器,实现不同工作模式下扫描系统的精确控制。通过算法和多模式扫描运动系统仿真实验验证,说明了该方法能够有效补偿摩擦力矩引入的扫描系统非线性影响,进而保证多模式下的扫描高精度运动控制精度。
A nonlinear PID controller based on the active disturbance rejection control(ADRC)technique is proposed to solve the control problem for the space scanning mechanism under the condition of multiple working modes.According to the working requirements of scanning optical remote sensing,the working modes include several combinations of different scanning ranges and velocity levels,that is,multiple velocity levels with a constant scanning range and two scanning ranges with a constant velocity.Due to the high control accuracy requirement for the scanning mechanism,it is impossible for a group of control parameters to obtain the required performance in different modes.Analyzing the mechanical chain shows that the friction torque,nonlinear in different working modes,is a crucial influence factor for performance control.Therefore,a friction torque model is introduced to the control system to compensate nonlinear disturbance,and a nonlinear PID controller combined with ADRC technique is proposed to implement the accuracy control.Both the simulations of the proposed algorithm and the simulations for a scanning system in multiple modes are implemented.The simulation results show that the proposed method in this paper is effective for the scanning system to realize high control accuracy.
作者
董杰
迟冬南
徐丽娜
张冬
朱军
DONG Jie;CHI Dongnan;XU Lina;ZHANG Dong;ZHU Jun(Beijing Institute of Space Mechanics&Electricity,Beijing 100094,China;Aerospace Dongfanghong Satellite Co.Ltd.,Beijing 100094,China)
出处
《航天返回与遥感》
CSCD
北大核心
2023年第4期29-38,共10页
Spacecraft Recovery & Remote Sensing
基金
科工局民用航天项目(D010206)。
关键词
多模式扫描机构
摩擦力矩补偿
自抗扰技术
非线性比例、积分和微分控制
航天光学遥感器
multi-mode scanning mechanism
friction compensation
active disturbance rejection control technique
nonlinear PID control
aerospace optical remote sensing
