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针对液压飞行仿真转台伺服系统具有高度非线性动态、大的参数时变和严重的通道间负载耦合,提出了一种复合控制设计。该复合控制由一个鲁棒反馈控制器和一个前馈补偿器组成。设计目标是,即使存在相当大的不确定性、外部扰动和通道间负载耦合,也要实现高的跟踪性能。为了达到这个目标,用μ综合最优化技术设计反馈控制器以抑制摄动和扰动,用基于零相位误差跟踪的基本思想建立前馈补偿器以补偿系统的动态时滞。为了验证所提出的控制策略,进行了仿真和试验,结果表明,所设计的系统对模型摄动具有非常强的鲁棒性,并具有优越的抑制负载耦合和改善跟踪性能的能力。
In view of the highly non-linear dynamic, large parameter time-varying and serious inter-channel load coupling of the hydraulic flight simulation turret servo system, a composite control design is proposed. The composite control consists of a robust feedback controller and a feedforward compensator. The design goal is to achieve high tracking performance even with significant uncertainties, external disturbances, and inter-channel load coupling. In order to achieve this goal, the feedback controller is designed with μ integrated optimization technique to suppress perturbation and perturbation. The feedforward compensator is built based on the basic idea of zero-phase error tracking to compensate the dynamic delay of the system. In order to verify the proposed control strategy, the simulation and experiment are carried out. The results show that the designed system is very robust to model perturbation and has superior ability of restraining load coupling and improving tracking performance.