基于非线性干扰观测器的转台反演鲁棒控制研究

针对转台系统三框耦合干扰和不平衡负载干扰等非线性因素的影响,提出了基于非线性干扰观测器的转台鲁棒Backstepping控制器.首先,阐述了鲁棒反演控制器的设计及稳定性证明;其次,通过设计并选择合适参数的NDO控制器,并进一步保证NDO控制器的全局指数稳定性及其有效性.实验仿真表明,这种新型鲁棒控制器能够很好地克服了转台现存的非线性因素影响,非常适合高精度飞行仿真转台系统的鲁棒控制.

Robust Backstepping Control for Flight Motion Simulator Based on Nonlinear Disturbance Observer

As one kind of servo system with uncertainties and disturbances, to obtain high performance and good robustness of the flight motion simulator, a robust Backstepping controller was proposed based on a Nonlinear Disturbance Observer(NDO). Firstly, the design procedure of the robust Backstepping controller was described and correlative problems were proposed. Secondly, the principle and the design steps of Nonlinear Disturbance Observer were analyzed and expatiated respectively. Finally, simulation results on the flight motion simulator show that robust backstepping control based on Nonlinear Disturbance Observer can compensate for external disturbances and enhance the system control performance. Therefore both robustness and high performance of the flight simulator are achieved.