大射电望远镜系统输出滞后补偿方法
|
摘要
针对大口径射电望远镜摩擦、间隙和大惯量引起的输出滞后问题,提出了一种输出滞后鲁棒控制器设计方法。首先,根据阶跃响应辨识的思想获得扰动的边界,在此基础上基于稳定性理论,确定出系统的不稳定边界;其次,设计鲁棒控制器使系统的频率响应曲线与禁区无交叉,从而使系统具有鲁棒性和稳定性,该方法的优点在于它是基于稳定性理论设计的无需稳定性证明,且设计简单容易实现,能保证系统在一定范围内发生波动时仍具有较好的控制性能;最后,通过实验验证了文中方法的有效性。
This paper is about a method of output delay robust controller,which aims at settling down the problem of heavy caliber radio telescope with output delay,and this delay derives from friction,gap and big inertia.As to this problem,first,the boundary of disturbance is obtained through the step response identification,and this boundary can be used to calculate the boundary of unsteadiness according to the theory of stability. Then the robust controller is designed,but the frequency response curve of this controller cannot go beyond the boundary unsteadiness to assure the robustness and stability of system. After all of the preparatory work are finished,the simulation process can be entered into. This method is easily to achieve,and need not be verified by stability theory because it is produced by the theory indeed. In addition,this system has excellent robustness to resist to disturbance within limits. Finally,the validity of this method is verified by experiments.
This paper is about a method of output delay robust controller,which aims at settling down the problem of heavy caliber radio telescope with output delay,and this delay derives from friction,gap and big inertia.As to this problem,first,the boundary of disturbance is obtained through the step response identification,and this boundary can be used to calculate the boundary of unsteadiness according to the theory of stability. Then the robust controller is designed,but the frequency response curve of this controller cannot go beyond the boundary unsteadiness to assure the robustness and stability of system. After all of the preparatory work are finished,the simulation process can be entered into. This method is easily to achieve,and need not be verified by stability theory because it is produced by the theory indeed. In addition,this system has excellent robustness to resist to disturbance within limits. Finally,the validity of this method is verified by experiments.
引文
[1]吴娟,孙娟萍,肖勇,等.自校正PID控制在雷达天线控制系统中的应用[J].自动化仪表,2009,30(7):69-71.
[2]李天睿,郭从良.射电望远镜PID控制系统仿真[J].计算机仿真,2009,26(4):85-88.
[3]万泽.凹口滤波器技术在天气雷达伺服系统中的应用[J].无线电工程,2004,34(11):40-42.
[4]李玉瑄,黄春平,李红安.深空站大天线抗风扰LQG最优控制器设计[J].无线电工程,2012,42(12):33-35.
[5]朱启昌.基于子空间法的大型天线伺服系统建模研究[D].西安:西安电子科技大学,2014.
[6]YOU W,CHEN H,HE X,et al.H∞mixed sensitivity method for vibration tracking control on flexible structures[J].Journal of Vibration Measurement&Diagnosis,2011,31(5):562-565.
[7]GAWRONSKI W.Design and performance of the controller for the beam-waveguide antenna[J].Interplanetary Network Progress Report,2011:184.
[8]GAWRONSKI W.Antenna control systems:from PI to H∞[J].IEEE Antennas&Propagation Magazine,2001,43(1):52-60.
[9]DE SOUZA A G,DE SOUZA L C G.H∞controller design to a rigid-flexible satellite with two vibration modes[C]//Journal of Physics Conference Series,2015:012-030.
[10]孙明玮,邱德敏,王永坤,等.大口径深空探测天线的抗风干扰伺服系统[J].光学精密工程,2013,21(6):1568-1575.
[11]GAWRONSKI W.Modeling and control of antennas and telescopes.New York:Springer,2008.
[12]LIU T,GAO F.Robust step-like identification of low-order process model under nonzero initial conditions and disturbance[J].IEEE Transactions on Automatic Control,2008,53(11):2690-2695.
[2]李天睿,郭从良.射电望远镜PID控制系统仿真[J].计算机仿真,2009,26(4):85-88.
[3]万泽.凹口滤波器技术在天气雷达伺服系统中的应用[J].无线电工程,2004,34(11):40-42.
[4]李玉瑄,黄春平,李红安.深空站大天线抗风扰LQG最优控制器设计[J].无线电工程,2012,42(12):33-35.
[5]朱启昌.基于子空间法的大型天线伺服系统建模研究[D].西安:西安电子科技大学,2014.
[6]YOU W,CHEN H,HE X,et al.H∞mixed sensitivity method for vibration tracking control on flexible structures[J].Journal of Vibration Measurement&Diagnosis,2011,31(5):562-565.
[7]GAWRONSKI W.Design and performance of the controller for the beam-waveguide antenna[J].Interplanetary Network Progress Report,2011:184.
[8]GAWRONSKI W.Antenna control systems:from PI to H∞[J].IEEE Antennas&Propagation Magazine,2001,43(1):52-60.
[9]DE SOUZA A G,DE SOUZA L C G.H∞controller design to a rigid-flexible satellite with two vibration modes[C]//Journal of Physics Conference Series,2015:012-030.
[10]孙明玮,邱德敏,王永坤,等.大口径深空探测天线的抗风干扰伺服系统[J].光学精密工程,2013,21(6):1568-1575.
[11]GAWRONSKI W.Modeling and control of antennas and telescopes.New York:Springer,2008.
[12]LIU T,GAO F.Robust step-like identification of low-order process model under nonzero initial conditions and disturbance[J].IEEE Transactions on Automatic Control,2008,53(11):2690-2695.