幅值锁定型超流体陀螺模糊自抗扰控制系统设计
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摘要
针对幅值锁定型超流体陀螺中热相位注入存在的温升延迟和热噪声影响陀螺系统测量精度和稳定性的问题,提出一种基于模糊自抗扰的超流体陀螺控制系统设计方法。首先建立超流体陀螺的数学模型;分析热相位注入引入的温升延迟和未知热噪声对系统敏感精度和稳定性的影响机理。在此基础上,设计集微分跟踪器、扩张状态观测和非线性反馈控制律于一体的自抗扰控制器,并进一步采用模糊推理实现非线性组合的比例和微分系数的自适应调整。最后利用Maltlab/Simulink进行仿真校验。仿真结果表明:该控制方法能够抑制未知噪声和温升延迟对系统的影响,对工作点实现良好的锁定,有效地提高了陀螺系统的测量精度和稳定性。
Aiming at the deterioration issue of amplitude-locked superfluid gyro system measurement accuracy and stability caused by temperature rise delay and thermal noise in the process of hot phase injection,a method for amplitudelocked superfluid gyroscope control system design based on fuzzy active disturbance rejection is proposed in this paper.Firstly,the mathematical model of superfluid gyroscope is established. The mechanism of effect of temperature rise delay and unknown thermal noise on system measurement accuracy and stability is analyzed. Secondly,a fuzzy active disturbance rejection controller, including differential tracker, extended state observation and nonlinear feedback control law is presented. Furthermore fuzzy reasoning is employed to realize the adaptive adjustment of proportional and differential coefficients in the nonlinear combination. Finally,the control method is verified by use of Maltlab / Simulink. Simulation results show that the design can effectively suppress the influence of unknown thermal noise and temperature rise delay on system measurement accuracy and stability,and achieve a good lock to the operating point,thus improving the system measurement accuracy and stability greatly.
Aiming at the deterioration issue of amplitude-locked superfluid gyro system measurement accuracy and stability caused by temperature rise delay and thermal noise in the process of hot phase injection,a method for amplitudelocked superfluid gyroscope control system design based on fuzzy active disturbance rejection is proposed in this paper.Firstly,the mathematical model of superfluid gyroscope is established. The mechanism of effect of temperature rise delay and unknown thermal noise on system measurement accuracy and stability is analyzed. Secondly,a fuzzy active disturbance rejection controller, including differential tracker, extended state observation and nonlinear feedback control law is presented. Furthermore fuzzy reasoning is employed to realize the adaptive adjustment of proportional and differential coefficients in the nonlinear combination. Finally,the control method is verified by use of Maltlab / Simulink. Simulation results show that the design can effectively suppress the influence of unknown thermal noise and temperature rise delay on system measurement accuracy and stability,and achieve a good lock to the operating point,thus improving the system measurement accuracy and stability greatly.
引文
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[21]Zhang N N,Guo Y B.Control strategy for hybrid electric vehicle based on fuzzy logic[J].International Journal of Automotive Technology,2012(112):563-571.
[2]孙博华,张渤.微机电光干涉陀螺分析[J].宇航学报,2009,30(5):1925-1928.[Sun Bo-hua,Zhang Bo.Analysis of a MOEMES gyroscope[J].Journal of Astronautics,2009,30(5):1925-1928.]
[3]周小刚,汪立新,佘嫱,等.光纤陀螺平台稳定回路设计与实验研究[J].宇航学报,2008,29(2):567-569.[Zhou Xiaogang,Wang Li-xin,She Qiang,et al.Designs of the servo loop of optic fiber gyroscope platform[J].Journal of Astronautics,2008,29(2):567-569.]
[4]Sato Y.Experiments using4He weak link[D].Berkeley:University of California,2007.
[5]Kishore T K,Leo D D.Quantum interferometric sensors[J].Concepts of Physics,2005,2:225-240.
[6]Hoskinson E,Sato Y,Packard R.Superfluid4He interferometer operating near 2K[J].Physical Review B,2006,74(10):100509.1-100509.8.
[7]Sato Y,Aditya J,Packard R.Flux locking a superfluid interferometer[J].Applied Physics Letters,2007,91(7):1-3.
[8]谢征.基于物质波干涉效应的新型低温超流体陀螺关键技术研究[D].南京:南京航空航天大学,2012.[Xie Zheng.Research on the key techniques for new cyrogenic superfluid gyroscope based on matter wave interference effect[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2012.]
[9]Hoskinson E M.Superfluid4He weak links[D].Berkeley:University of California,2005.
[10]聂威,赵伟,郑睿,等.基于模糊控制器的热相移辅助超流体陀螺研究[J].航天控制,2014,32(1):21-25.[Nie Wei,Zhao Wei,Zheng Rui,et al.Research on superfluid gyroscope aided by heat phase shift based on fuzzy-PID[J].Aerospace Control,2014,32(1):21-25.]
[11]Packard R.The role of the Josephson Anderson equation in superfluid helium[J].Reviews of Modern Physics,1998,70(2):641-651.
[12]Hoskinson E,Packard R,Haard T.Quantum whisling in superfluid helium-4[J].Nature,2005,443(7024):376.
[13]Hakonen A P,Varoquaux E.Detection of the rotation of the earth with a superfluid gyrometer[J].Physical Review Letters,1997,78(19):3602-3605.
[14]Hoskinson E,Packard R.Thermally driven Josephson oscillations in superfluid4He[J].Physical Review Letters,2005,94(15):155303.1-155303.4.
[15]Packard R.Principles of superfluid helium gyroscops[J].Physical Review B,1992,46(6):3540-3549.
[16]Feng M Y.Information extraction and range rxpanding technology of double weak-link structure superfluid gyroscope[J].Modern Electronics Technique,2012,35(2):94-99.
[17]Han J Q.From PID to active disturbance rejection control[J].IEEE Trans.Ind.Electron,2009,56(3):900-906.
[18]Liu Y,Guo C,Lei Z L.Intelligent control based on ADRC for large container ship course keeping[C].Chinese Intelligent Automation Conference,Yanzhou,China,August 23-25,2013.
[19]Chen X,Li D H,Gao Z Q.Tuning method for second-order active disturbance rejection control[C].The 30th Chinese Control Conference,Yantai,China,July 22-24,2011.
[20]Song S J,Moon Y G,Lee D H.Comparative study of fuzzy PID control algorithms for enhanced position control in laparoscopic surgery robot[J].Journal of Medical and Biological Engineering,2015,35(1):33-44.
[21]Zhang N N,Guo Y B.Control strategy for hybrid electric vehicle based on fuzzy logic[J].International Journal of Automotive Technology,2012(112):563-571.