静电陀螺支承系统的内模控制

针对静电陀螺支承系统超前-滞后PID控制器参数确定过程的复杂性,引入反馈控制器处理不稳定对象,处理后的对象采用一种改进的内模控制方法,推导了内模控制静电支承控制器的传递函数和系统闭环传递函数.结果表明,控制器可由新的稳定对象的逆、不稳定分量和一个低通滤波环节相乘得到,确定过程简单.给出了MATLAB环境下的仿真实验,仿真结果表明,采用内模控制的静电陀螺支承系统跟踪无静差,控制效果良好.

The Electrostatic Suspension System with Internal Model Control

In terms of complex parameters of lead-lag PID controller in electrostatic suspension system(ESS),a feedback controller was introduced into the system to stabilize the plant,and a modified internal model control(IMC) was applied.Then the ESS-IMC controller transfer function and the system close-loop transfer function were deduced.The ESS-IMC controller is multiplied by the inverse of the new stabilized plant,the unstable part and a low-pass filter.ESS-IMC controller design is relatively simple.Simulation of the whole system with MATLAB was given,and the results of simulation show that the system has no error,and performs well.