摆动喷管电动伺服系统复合控制方法
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摘 要：针对飞行器摆动喷管电动伺服系统在低气压高温升条件下的控制问题，提出一种复合控制方法。基于LuGre模型对伺服系统的复杂负载力矩进行建模，利用状态观测器和两个dual观测器推导出负载力矩参数自适应律，以期实现对负载力矩随外界条件变化时的拟合。采用自适应反步终端滑模算法，负载力矩估计值进行虚拟力矩补偿，同时解决控制电压与力矩干扰之间不匹配、电机电压扰动及参数变化的问题，理论分析证明所提控制算法对于匹配及非匹配不确定性都具备鲁棒性，能够保证跟踪误差最终一致有界。最后通过仿真及实验，验证了所提方法的有效性。
关键词：摆动喷管；永磁同步电机；负载建模；自适应滑模；反步法
中图分类号：TP 29
文献标志码：A
文章编号：1007-449X（2018）04-0113-08
Abstract：A composite control method is proposed for the high precision position control of motor servo systems of aircraft gimbaled nozzle. The complicate load was modeled based on the LuGre model. By using a state observer and two dual observers， the adaptive law of load model parameters was derived in order to approximate the real load which was changed with the change of working condition. The estimation of load torque was to compensate the virtual torque. The control input voltages were obtained through the adaptive backstepping terminal sliding mode control method with the virtual torque. The mismatch between the control voltages and torque disturbance， the voltage disturbance and the parameter variation of the motor were disposed by the proposed control method. The theoretical analysis proves that the proposed control algorithm is robust to the matched and unmatched uncertainties. The uniformly ultimately bounded convergence of tracking error can be guaranteed. Finally，...
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