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针对低空掠海飞行拖靶建模误差和外界扰动大的特点,提出了自抗扰高度控制律设计方法。该方法通过安排过渡过程解决了超调与快速性的矛盾,跟踪微分器提取误差的微分信号有效实现了微分反馈,非线性反馈在避免使用积分器的同时提高了控制效率。采用扩张状态观测器对未建模动态和干扰作用进行估计并补偿。仿真结果表明,在存在模型摄动和外界扰动情况下,基于自抗扰控制的拖靶高度控制系统具有较好的动态品质、稳态精度以及较强的鲁棒性。
In view of the modeling error of low-altitude swept-sea flying towing target and the large disturbance from outside, a design method of ADRC control law is proposed. The method solves the conflict between overshoot and rapidity by arranging the transition process. The derivative signal is tracked by the differential signal of the differentiator to effectively realize the differential feedback. The nonlinear feedback improves the control efficiency while avoiding the use of an integrator. An extended state observer is used to estimate and compensate for unmodeled dynamics and disturbances. The simulation results show that the drag target height control system based on ADR control has better dynamic quality, steady-state accuracy and robustness in the presence of model perturbation and external disturbance.