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扩张状态观测器在低速大转矩转台中的应用

Application of Extended State Observer in LowSpeed LargeTorque Turn

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摘要

转台在遥感测试领域中有着广泛的应用, 同时对其控制效果的要求也越来越高, 尤其对于低速大惯量转台的控制。针对由于转动惯量估计不准、扰动模型不确定等因素造成系统模型不能被准确描述, 经典状态观测器无法准确观测出系统状态的问题, 提出了不依赖于精确系统模型的扩张状态观测器来跟踪反馈系统中不确定因素的作用量。首先对扩张状态观测器进行了分析和设计, 构建了非线性PID控制器的仿真结构框图, 并将系统在Simulink下进行了仿真模拟。试验结果表明, 该方法使转台低速稳速精度相对于传统PID控制提高了8.6%, 跟踪误差下降为原来的13.3%, 有效提高了低速大转矩转台控制系统的性能。

Abstract

Turn is widely applied in the remote sensing test fieldand the requirements for its control performance become increasingly highespecially for the control of lowspeedlarge torque turn.To the problems that the classical state observer is unable to detect the system state precisely and it is hard to accurately describe the system model due to inaccurate estimation of rotational inertia and uncertain perturbation modelwe proposed a control method based on Extended State Observer (ESO) to track the action of uncertaintieswhich is independent of the exact system model.Firstlythe ESO was analyzed and designed.Thena nonlinear PID controller for speed loop was constructedand simulation was made to the system under the Simulink.Results of the test show that the method can improve the performance of the control system of the lowspeedlargetorque turn effectively.Compared with the traditional PID controlthe accuracy of steady speed of the turn was improved by 8.6%and the tracking error was reduced by 13.3%.

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中图分类号:V556

DOI:10.3969/j.issn.1671-637x.2016.07.016

所属栏目:工程应用

基金项目:国家“八六三”计划资助项目(86325113B); 吉林省科技发展计划项目(20126016)

收稿日期:2015-06-23

修改稿日期:2015-08-13

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夏 冰:中国科学院长春光学精密机械与物理研究所, 长春 130033中国科学院大学, 北京 100039
王晶晶:东北大学, 沈阳 110819
金龙旭:中国科学院长春光学精密机械与物理研究所, 长春 130033
张 柯:中国科学院长春光学精密机械与物理研究所, 长春 130033
韩双丽:中国科学院长春光学精密机械与物理研究所, 长春 130033

备注:夏 冰(1990 —),男, 辽宁沈阳人, 硕士,研究方向为转台伺服控制。

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引用该论文

XIA Bing,WANG Jingjing,JIN Longxu,ZHANG Ke,HAN Shuangli. Application of Extended State Observer in LowSpeed LargeTorque Turn[J]. Electronics Optics & Control, 2016, 23(7): 74-78

夏 冰,王晶晶,金龙旭,张 柯,韩双丽. 扩张状态观测器在低速大转矩转台中的应用[J]. 电光与控制, 2016, 23(7): 74-78

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