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针对一类大型复合随动平台的协调控制问题,利用频率分离原理,对2个执行机构的跟踪任务进行合理分配,实现平台精确跟踪。根据复合随动平台系统的性能要求和平台执行机构本身的约束条件,设计了特定的加权传函矩阵,通过H∞混合灵敏度方法,求解系统的鲁棒控制器。采用平衡截断法对所设计的H∞控制器进行降阶处理,并讨论了降阶控制系统的稳定性。仿真结果表明,基于频率分离的H∞混合灵敏度设计方法,可实现复合平台精确跟踪,并可以较好地解决复合随动平台的协调控制问题;平衡截断法可以有效地对控制器降阶,而对闭环控制效果带来的损失较小。
Aiming at the coordination control problem of a kind of large complex follower platform, the frequency separation principle is used to reasonably distribute the tracking tasks of the two actuators so as to realize accurate tracking of the platform. According to the performance requirements of composite servo system platform and the constraints of platform actuator itself, we design a specific weighted transfer function matrix and solve the system robust controller by H∞ mixed sensitivity method. The balanced truncation method is used to reduce the order of the designed H∞ controller, and the stability of the reduced order control system is discussed. The simulation results show that the H∞ hybrid sensitivity design method based on frequency separation can accurately track the hybrid platform and solve the problem of coordinated control of the hybrid follower platform. The balanced truncation method can effectively reduce the controller, The closed-loop control effect of the smaller losses.