解耦的三轴气浮台非线性模糊变结构鲁棒控制问题

摘要

In this paper, the nonlinear dynamics system of the spacecraft triaxial attitude control airbearings testbed (TACT) with uncertainty and coupling is analysised, calculated and proved, its general dynamical equation is given. This paper proves the TACT can be decoupled by using converse-system theory. Aiming at this nonlinear dynamics system,a new nonlinear decoupling controlling method is put forward through synthesizing variable structure and fuzzy theory. The simulation results show, aiming at uncertainty and outer disturbance, this method has efficient following performance.%针对飞行器全物理仿真三轴气浮台这一具有不确定性的、耦合的非线性系统,对其动力学耦合和可解耦性问题进行了分析、计算和证明.通过综合变结构控制和模糊控制,给出了一种新的非线性控制系统设计方法,此方法既可以避免变结构控制所固有的颤动现象,同时由于该模糊控制律的解析性,所以也具有实现简单,易于工程化的优点.仿真结果表明,给出的模糊变结构控制,对飞行器模型不确定性和外来干扰具有较强的和良好的跟踪性能.