天线指向机构位置伺服的H_∞-PID控制研究

摘要

针对大型卫星天线指向机构高精度高可靠性的要求,研制了一种永磁同步电机驱动的新型天线指向机构.在建立双质量体驱动模型的基础上,以ITAE(时间乘以误差绝对值积分)为优化指标,在H_∞混合灵敏度约束下PID参数的稳定域内,采用遗传算法对PID控制器的参数进行了优化.最后采用优化的PID控制器对指向机构进行了控制仿真和实验验证,结果表明系统具有响应快速而平稳、抗负载扰动和模型误差能力强的特点.%In this paper, a new kind of antenna pointing mechanism driven by permanent magnetic synchronous motor is de-veloped to satisfy the large satellite's demands of high accuracy and high reliabihty. Based on the dual-mass driving model, the optimum PID controller parameters are found in the stable region restricted by the H_∞ mixed sensitivity with the ITAE (integrated time absolute error) criterion through genetic algorithm. The results of the simulation and experiment show that the system which using the optimum PID parameters has the characters of responding fast but steady, and robust against load disturbance and uncer-tainty model error.