【作者】 贾永翠；

【导师】 保宏； 苏玉鑫；

【作者基本信息】 西安电子科技大学 ， 机械电子工程， 2009， 硕士

【摘要】 本文以直升机飞控系统中陀螺地平仪的主要部件——二自由度陀螺仪为例,从实际使用和反复检修后再重新使用的角度出发,将二自由度陀螺仪的耦合和由于部分不确定的干扰引起的陀螺漂移问题作为主要的研究问题。首先推导了理想状态和存在质量偏心状态下二自由度陀螺仪的动力学方程;其次,对于陀螺的几何耦合问题提出了交叉耦合控制(CCC)的解耦控制方法。最后,针对二自由度陀螺仪动力学方程的耦合问题,应用前馈控制的原理,并将非线性微分跟踪器(TD)和交叉耦合控制结合对其进行控制,达到对其几何耦合和动力耦合进行解耦的目的。然而,理论分析和实际之间存在一定的差别,本文在分析基于TD的交叉耦合控制器对陀螺控制精度低的原因的基础上,增加扩张状态观测器(ESO)对不确定的扰动进行估计,得出了基于自抗扰控制(ADRC)的解耦器。与传统PID控制结合交叉耦合控制组成的基于PID解耦器的仿真结果进行比较,基于自抗扰控制(ADRC)的解耦器对二自由陀螺仪的控制精度大大提高,使运载体和相关系统的高精度和稳定性得以保证。更多还原

【Abstract】 Two-degrees-of-freedom gyroscope, which is the main component of gyroscope horizon indicator in flight control system of helicopter, is considered as the controlled plant in this paper. In order to meet the requirement of both actual usage and afresh usage via repetitious examination and repair, this paper focuses on the drift problem of gyroscope that due to some uncertain factors and the coupling problem of two-degrees-of-freedom gyroscope. Firstly, dynamic formulas of gyroscope under the ideal condition and the actual condition are derived. Sencondly, the Cross-Coupling Control (CCC) is put forward to solve the geometric coupling problem of two-degrees-of-freedom gyroscope. Finally, aiming at the dynamic coupling of two-degrees-of-freedom gyroscope, the theory of the forward feedback is applied. Meanwhile, Tracking Diffrentia (TD) is added to decouple the dynamics coupling and the geometric coupling of two-degrees-of-freedom gyroscope. However, there is some difference in result between theory and practice. The reason that the control accuracy can not reach request is given in this paper. The Active Disturbance Rejection Control (ADRC) technique is proposed by increasing the Extension-State-Observe (ESO). Comparing with the tradition PID, the ADRC based on CCC consumedly improves the control accuracy of two-degrees-of-freedom gyroscope. It assures the stability and high accuracy of its carrier and related system.更多还原