【摘要】 运载火箭伺服机构是火箭的执行机构,在工作过程中不仅要求伺服机构具有较好的阶跃响应和力矩抗扰性能,还要求伺服机构能够较好地跟踪箭载计算机发送的位置随动指令。常规的自抗扰控制(ADRC)建模时,将输入的微分量近似为0,使得输入时变信号时会产生建模误差,该误差无法通过扩张状态观测器(ESO)进行观测并补偿,导致系统的跟踪误差较大。针对常规自抗扰控制对时变信号跟踪误差较大的问题,提出了一种将位置输入微分前馈(PIDF)引入自抗扰控制的前馈自抗扰控制方法。通过理论推导和建模仿真得知,该方法可降低系统对正弦输入信号的跟踪误差并提高系统的动态特性,同时仍具有较强的抗干扰性能。最后通过试验验证了该方法的有效性。更多还原

【Abstract】 As the actuator of launch vehicle, the servo mechanism should not only provide better step response and torque immunity performance, but also to track the follow-up commands sent by the rocket-borne computer. In the conventional active disturbance rejection control(ADRC) modeling, the derivative of input is approximately zero, and the time-varying input signal will generate modeling error, which cannot be observed and compensated by extended state observer(ESO), resulting in a large tracking error of the system. In order to solve the problem of large tracking error of time-varying signal caused by conventional ADRC, a feed-forward active disturbance rejection control method by introducing position input differential feed-forward(PIDF) into ADRC is proposed. Through theoretical deduction and modeling simulation, it is found that this method can reduce the tracking error of sinusoidal input signal and improve the dynamic characteristics of the system. At the same time, it still has strong anti-interference performance. Finally, the effectiveness of this method is verified by experiments.更多还原