基于前馈及反馈补偿的高性能直线伺服系统

数控机床用直线电动机在工作过程中,推力波动、负载扰动和非线性摩擦等各种扰动因素降低了直线伺服的性能。为抑制扰动满足数控机床直线伺服系统速度跟踪性能的要求,在分析永磁直线同步电动机数学模型和各种扰动因素的基础上,引入具有动态递归特性的Elman神经网络,设计出具有前馈及反馈综合补偿效果的复合控制器,不仅可以对各种扰动进行反馈补偿,而且对速度给定信号进行预测前馈补偿控制,提高了直线伺服系统的跟踪精度和响应速度,仿真结果验证了Elman神经网络的动态性能及综合补偿的优点,表明了复合控制方案的有效性和可行性。

Abstract：

Disturbance variations,such as force ripple,load disturbance and nonlinear friction,directly impose on the motor shaft,leading to significant effect on the computer numerical control （CNC） machine tool servo system performance.In order to satisfy the requirements for speed command tracking performance and eliminate the influence of disturbance,on the bases of the analyzing the mathematics model of permanent magnet linear synchronous motor （PMLSM） and disturbance variation,Elman dynamic recurrent Neural Network was introduced and compound controller with feedforward and feedback comprehensive compensation was proposed.The disturbances were compensated by feedback component and reference speed input signal was preview controlled by feedforward component.The tracking performance and respect speed of linear server system were improved.The advantages of the comprehensive compensation and dynamic of Elman NN were proved.The simulation results show that this compound control scheme is feasible and effective.     

半实物仿真中的期望频率特性控制研究

根据半实物仿真系统中期望输出预知的特点,讨论了相应的离散控制问题。首先提出了给定带宽的零相位滞后离散模型,对不可抵销零点的补偿方法进行了研究,并按该模型设计了相应的利用未来信号的前馈控制器。根据该方法可以获得近似的理想闭环模型。     

Zero phase error control based on neural compensation for flight simulator servo system

1. INTRODUCTION In high precision tracking applications of mechanical systems, feedforward controllers are often used to enhance tracking performance, and they are generally prefilter for the desired trajectory to compensate for the dynamic lag of the closed loop and to extend the tracking bandwidth. Because of the rapid growth of computer technology, digital motion control system has become more and more popular, and feedforward controller design in discrete time domain attracts much atte…     

Robust stability analysis for a cruise missile

A global controller design methodology for a flight stage of the cruise missile is proposed. This methodology is based on the method of least squares, To prove robust stability in the full airspace with parameter disturbances, the concepts of convex polytopic models and quadratic stability are introduced, The effect of aerodynamic parameters on system performance is analyzed. The designed controller is applied to track the overloading signal of the cruise segment of the cruise missile, avoiding system disturbance owing to controller switching, Simulation results demonstrate the validity of the proposed method.     

Robust stability analysis for a cruise missile

A global controller design methodology for a flight stage of the cruise missile is proposed.This methodology is based on the method of least squares.To prove robust stability in the full airspace with parameter disturbances.the Concepts of Convex polytopic models and quadratic stability are introduced.The effect of aerodynamic parameters on system performance is analyzed.The designed controller is applied to track the over loading signal of the cruise segment of the cruise missile,avoiding system disturbance owing to controller switching.Simulation results demonstrate the validity of the proposed method.     

过载指令编码低空突防方法研究与仿真

针对飞行器低空突防的地形跟随问题,作者给出了一种基于改进的遗传算法的地形跟随轨迹的优化生成方法,通过对初始编码（染色体）及适应函数的优化,以及改进对染色体复制,杂交,变异生成最优轨迹,采用了控制指令直接编码,最优个体保护,分布式搜索,启发式变异。该方法模型简单,智能化全局寻优,运算速度快,精度高,实时性强等优点,结合某导弹模型,经仿真模拟得到了满意的结果。     

Study of a New Method of Tracking Control with Zero Steady-State Error on Very-Low Frequency

1. INTaoDUCTIONThe basic requlremeat8 for the servo system axe that its output should constantly and steadi1y change with theinput's variation and that the tracking accuracy should be assu-red. That is to say tht system should performtracking steadily before the output speed and acceleration surpass the preset mtalmum value. However, infact, the servo system is not easily smooth during low speed follow-up, which does not meet the needs. It is aprobIem to be tackled how to app1y modern cont…     

Tracking control for air-breathing hypersonic cruise vehicle based on tangent linearization approach

This paper is focused on developing a tracking controller for a hypersonic cruise vehicle using tangent linearization approach. The design of flight control systems for air-breathing hypersonic vehicles is a highly challenging task due to the unique characteristics of the vehicle dynamics. Motivated by recent results on tangent linearization control, the tracking control problem for the hypersonic cruise vehicle is reduced to that of a feedback stabilizing controller design for a linear time-varying system which can be accomplished by a standard design method of frozen-time control. Through a proper model transformation, it can be proven that the tracking error of the designed closed-loop system decays exponentially. Simulation studies are conducted for trimmed cruise conditions of 110 000 ft and Mach 15 where the responses of the vehicle to step changes in altitude and velocity are evaluated. The effectiveness of the controller is demonstrated by simulation results.     

导弹协同作战编队飞行控制系统研究

提出了具有3个回路的导弹协同作战编队飞行控制系统,分别对3个回路进行设计分析,并重点分析导弹的四维制导控制外回路和编队控制回路。面向具有过载自动驾驶仪内回路的增广飞控系统,设计了基于总能量控制理论的高度/速度解耦控制器,能够实现导弹制导控制外回路的高度/速度解耦。基于导弹编队队形的位置偏差关系设计了导弹编队控制器,最后综合3个回路构成了导弹编队飞行控制系统。仿真结果表明,各回路以及导弹编队控制系统具有很好的控制性能,能够快速、稳定地完成导弹编队的队形调整动作,进而实现任务规划系统对导弹编队提出的作战任务。     

交会对接模拟器控制系统设计

介绍了采用集散式控制机制的交会对接模拟器控制系统总体方案,用以实现系统的直接控制和集中监控管理.详细地介绍了交会对接控制系统的硬件结构和控制方法.为了改善系统的控制性能,控制系统设计中采用复合干扰观测器控制策略,并对不同干扰状态的模型进行数字仿真,仿真结果表明该方法有效地提高了系统的控制品质.     

Design of an Optimal Preview Controller for Dual-Rate Linear Discrete-Time Systems

A dual-rate preview control strategy for a type of discrete-time system is proposed based on the theory of multirate control. First, by using the discrete lifting technique, the general dual-rate discrete-time system is converted into a single-rate augmented system. On this basis, the augmented error system is constructed by introducing a first-order difference operator and the previewable reference signal. Then the tracking problem is transformed into a regulator problem of the augmented error system. The optimal preview control law of the augmented error system is obtained by using standard linear quadratic optimal preview control theory, and then the optimal preview controller of the original system is derived. In addition, the necessary and sufficient conditions for the controller are given.Finally, simulation results show the effectiveness of the proposed method.     

基于递归神经网络的伺服系统自适应反步控制

针对伺服系统的系统参数摄动和非线性动态摩擦补偿问题,提出基于递归神经网络(RNN)的自适应反步控制(RNABC)系统设计方法.RNABC系统由反步控制器和鲁棒控制器组成,反步控制器包含RNN不确定观测器,鲁棒控制器则用来消除由于引入不确定观测器而带来的逼近误差.由于自适应反步控制的自适应律源于Lyapunoy函数的,因此系统的稳定性得到了保证.仿真结果表明,对于系统参数摄动和非线性摩擦干扰RNABC能使伺服系统具有很好的跟踪性能.     

Parametric approach to track following control of FFSM

A robust task space tracking scheme is proposed for the free-flying space manipulator system.The dynamic equations of the system are derived via the law of momentum conservation,and then a linear state space representation is formulated by local linearization.A parametric approach is applied by using the eigenstructure assignment theory and the model reference method.A feedback stabilizing controller and a feedforward compensation controller are built based on the approach.Then an optimization procedure is followed after that to obtain the desired requirement and characteristics.Simulation results are presented to show the effectiveness of the proposed method.     

卷弧翼滚转导弹Lipschitz自适应轨迹线性化控制

根据非对称卷弧翼滚转导弹运动特点,建立了包含系统不确定参数、结构损伤干扰、观测噪声等因素的三通道有控运动模型,提出了一种基于Lipschitz自适应观测器补偿控制的轨迹线性化控制(trajectory linearization control,TLC)改进算法。根据时标分离原则将控制系统分为快慢两个回路并设计TLC控制器。通过求解线性矩阵不等式组的方法得出了非线性Lipschitz状态观测器,对未知干扰参数进行估计,并依据参数估计值和反馈的状态设计了干扰补偿控制律,从而改善了TLC算法性能。仿真实验表明,提出的改进算法可以使导弹姿态运动较好地跟踪控制指令,实现了导弹滚转运动和角运动控制的解耦,保证了导弹系统能够抑制气动/结构参数摄动、观测噪声和强突发未知干扰等情况的影响,提高了导弹姿态控制的鲁棒性和准确性。     

高速电梯水平振动主动控制策略研究

为了降低高速电梯的水平振动，建立了4自由度的电梯轿厢水平振动主动控制的动力学模型，给出了微分方程，建立了状态空间模型；在所建模型的基础上，分别设计了最优控制策略和最优预瞄控制策略，进行了仿真验证。仿真结果表明，最优预瞄控制可以显著地降低电梯的水平振动，性能优于最优控制。最优预瞄控制是一种有效、实用的减振策略。     

Finite-time tracking control for motor servo systems with unknown dead-zones

A finite-time tracking control scheme is proposed in this paper based on the terminal slid- ing mode principle for motor servo systems with unknown nonlinear dead-zone inputs. By using the differential mean value theorem, the dead-zone is represented as a time-varying system and thus the inverse compensation approach is avoided. Then, an indirect terminal sliding mode control （ITSMC） is developed to guarantee the finite-time convergence of the tracking error and to overcome the singu- larity problem in the traditional terminal sliding mode control. In the proposed controller design, the unknown nonlinearity of the system is approximated by a simple sigmoid neural network, and the ap- proximation error is diminished by employing a robust term. Comparative experiments on a turntable servo system are conducted to show the superior performance of the proposed method.     

单输入网络化控制系统的时延补偿滑模控制

针对网络化控制系统中存在的网络诱导时延问题,提出了一种离散滑模控制方法。基于一类线性时不变被控对象的单输入网络化控制系统离散模型,构造了具有时延补偿的滑模面。通过系统状态预估及对状态运动的分析,设计了可以完全消除系统抖振的滑模控制器。李亚普诺夫方法证明了该控制器能使系统状态在不产生抖振的前提下收敛于滑模面,并保证系统的渐近稳定,同时不要求网络诱导时延小于一个采样周期。以位置伺服系统为对象的仿真实例验证了该设计方法的有效性。     

基于反步法及控制分配的导弹直接侧向力/气动力复合控制

基于L2最优控制分配策略,提出一种直接侧向力与气动力复合控制导弹自动驾驶仪设计方法。导弹复合控制系统由控制分配策略和虚拟控制律2个部分组成。基于干扰抑制不变集的分析思想,采用反步法设计虚拟控制律。将虚拟控制律产生的控制量通过L2最优策略分配给实际执行机构。设计过程中,考虑了执行机构的动特性以及外界干扰的影响。仿真结果表明,导弹复合控制系统对过载跟踪指令响应快速且平稳。跟踪过程中,直接侧向力与气动力之间相互配合,验证了控制方法的有效性。     

视觉辅助飞航导弹INS定位误差快速修正方法

针对飞航导弹惯导系统（inertial navigation system, INS）单独使用时存在定位误差发散的问题,在忽略INS速度估计误差的基础上,从便于工程实现的角度,提出了一种基于对航路上单个已知点地标连续、被动观测的INS定位误差快速修正方法。该方法在不改变导弹巡航路径的前提下,利用迭代求解与平均去噪相结合的思想,仅需1 s的观测数据,就能实现INS定位误差的快速修正。仿真结果表明：该方法是一种有偏估计方法,但在INS速度误差不大于6.5 m/s的情况下,仍可将INS定位误差修正到14m之内。     

基于自抗扰与模糊逻辑的大攻角控制系统设计

针对直接力/气动力复合控制空空导弹的敏捷转弯问题,提出了一种基于自抗扰控制技术与模糊逻辑的自动驾驶仪设计方法。将导弹俯仰通道分解为攻角控制回路与俯仰角速度控制回路,使用自抗扰控制方法分别设计控制器,并将其串联组成完整控制回路。由攻角指令得到虚拟控制量,然后通过模糊逻辑将虚拟控制量分配给气动舵与直接力喷流装置。最后使用模糊控制方法对自抗扰控制器的反馈增益进行在线调整。仿真结果表明,所提出的控制方案对大攻角指令有良好的跟踪效果,适用于空空导弹的大攻角敏捷转弯控制。