基于定量反馈理论的两轴稳定平台混合控制器设计
Design of Quantitative Feedback Controller with PID Loop for 2-DOF Stabilized Platform
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摘要: 针对两轴稳定平台中控制对象的不确定性及其扰动问题,在建立其不确定数学模型的基础上,综合考虑了对象的不确定性范围和系统的性能指标要求,采用定量反馈理论研究了两轴稳定平台跟踪伺服控制,设计了鲁棒性强的跟踪控制器. 采用Matlab进行仿真结果显示:定量反馈理论(QFT)和比例积分微分(PID)相结合的直流电机驱动控制器具有响应速度快、无超调、抗干扰能力强以及稳态误差小等优点;其动、静态性能均优于单一控制器,较好地抑制输出干扰带来的影响,使两轴稳定平台系统得到良好动态响应,便于工程实现.Abstract: This research focuses on quantitative feedback theory (QFT) controller with uncertain mathematic model for servo control of 2-DOF stabilized platform, giving a full consideration to the uncertainty of controlled object and inevitable disturbance. Considering both the uncertainty range and the performance indexes of the system, the servo control was analyzed using QFT and a tracking controller with high robustness has been designed. Matlab simulation has shown that the QFT controller with PID loop has advantages of sensitive response, non-overshoot, anti-disturbance and minimal stable error. Its dynamic/static performance is superior to those of single controllers. Further, it has indicated that the designed control system could offset the effect from output interference, which brings about good dynamic control and easy engineering practice.
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