基于干扰观测器的飞行仿真转台完全跟踪控制

摘要

To meet the rising performances requirements of flight simulator, a novel robust perfect track-ing control ( PTC) strategy was proposed. On account of the PTC’ s dependence on accuracy of the math-ematical models of the controlled plant, the disturbance observer ( DOB) was introduced to eliminate the model perturbation and the external disturbance so that the input-output characteristics of the plant is al-ways close to the nominal model within the given frequency band. The simulation results show that the proposed strategy is of good tracking performance even though integrated with the simple PID closed-loop controller. The concrete design method of PTC and DOB were provided in detail. The simulations com-pared with the existing method were conducted. The results indicate that the proposed method has better tracking performance and stronger capability on disturbance attenuation.%针对飞行仿真转台不断提升的性能要求及其多速率采样的工作特点，提出了一种新的鲁棒完全跟踪控制策略。针对完全跟踪前馈控制依赖于系统精确数学模型的问题，通过引入干扰观测器来消除模型摄动和外部扰动，使得被控对象的特性在给定的频段内始终趋近于标称模型，充分保证了PTC的作用。仿真结果表明即使结合简单的PID闭环控制器，系统的跟踪性能也获得了很大的提升。给出PTC和DOB的具体设计方法，并对方法的有效性进行了对比仿真验证。结果表明，与已有方法相比，所提控制方法对模型摄动和力矩扰动的抑制能力更强，跟踪性能更好。