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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。
A robust control method of conical sleeve that can effectively adapt to uncertain environment is proposed. Based on the linearization and the reduction of the nonlinear dynamics model of the hose - taper sleeve, the turbulence of the atmospheric turbulence on the hose - taper sleeve is regarded as a random perturbation, and this disturbance is taken as a parameter to connect with the hose - The state of the reduced-order model of the cone-sleeve system is merged into an augmented system state quantity. The Kalman filter method is used to estimate the system state quantity in real time. The LQG controller is designed to realize the stable control of the cone sleeve. The simulation results show that this method can track the change of atmospheric turbulence in real time and has the better ability of resisting the disturbance of atmospheric turbulence, which can ensure the stability of the taper sleeve.