提出了一种能有效适应不确定性环境的锥套稳定控制方法.在对软管-锥套非线性动力学模型线性化及降阶处理的基础上,将大气紊流对软管-锥套的扰动视为随机扰动,并把这种扰动作为参数与软管-锥套系统降阶模型中的状态合并成增广的系统状态量,采用卡尔曼滤波方法对系统状态量进行实时估计,并设计LQG控制器,实现对锥套的稳定控制.仿真结果表明,该方法能实时跟踪大气紊流的变化,且具有较好的抗大气紊流干扰的能力,能保证锥套的稳定.%This paper proposes a stability control method for drogue effectively adapt to uncertain environment. Based on the non-linear model of the hose-drogue system been linearized and reduced, the atmospheric turbulence on the hose-drogue is considered as a random perturbation, and such disturbance regarded as parameter is combined with the state of reduced model to consist the augmented state variables. Then real-time Kalman filter is used to estimate the state vari-ables, and LQG controller is designed to stabilize the drogue. The simulation results show that the method is able to track the variation of atmospheric turbulence in real-time, and of strong anti-jamming ability for it, which ensures the stability of the drogue.
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