【作者】 傅楚楚；

【导师】 陈希军；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2009， 硕士

【摘要】 随着航空航天技术的迅猛发展,对惯性导航设备性能的要求也不断提高。而转台作为其主要测试与仿真设备,相应地对其性能的要求也不断地提高。本文采用古典控制理论和极点配置自校正PID控制理论分别进行了转台控制系统设计,同时采用了以S型曲线算法作为转台的牵引输入。由于古典控制理论结构简单、设计方便,在实际控制中仍有着广泛的应用。本文应用古典控制理论中的经典PID方法设计了转台的位置回路和速率回路。其中为了调试的方便,在速率回路只采用比例环节,位置回路则采用比例、积分和微分的控制方法,并在位置回路引入了滤波器。对此系统的仿真分析说明了这种方法仍然是转台控制系统中行之有效的控制方法。在实际控制系统中,由于各种影响,被控对象往往存在不确定性。为了克服对象模型的不确定性,研究了自校正极点配置PID控制方法。利用最小二乘的方法在线辨识被控对象,同时实时改变控制器的参数。仿真结果证明这种方法具有良好的跟踪性能和较强的鲁棒性。转台的运行需要较好的平稳性,大的阶跃会造成系统控制量的输出饱和。本文详细地研究了转台的牵引输入,采用S型曲线算法的方法作为转台的牵引输入,从而避免了大阶跃问题。此牵引输入法在转台的实际控制中得到了良好的控制效果。更多还原

【Abstract】 With the rapid development of aeronautic and astronautic technologies, the performances of the inertial navigation set need to be improved. Accordingly, the performances of the turn-table used for the testing and simulation of the inertial navigation set, also need to be improved.In this paper, turn-table control systems are designed separately with classical control theory and pole-assignment self-tuning PID control theory. Meanwhile, The S-curve algorithm is put forward and used as the track input of turn-table.Classical control theory is still widely used nowadays for its simplicity and convenience. Speed loop and position loop are both designed with traditional PID control theory. For convenience, only proportion is being used in the speed loop. Proportion, integral and differential are used, and low-pass filter is imported in the position loop. The result of simulation verifies its efficiency.However, in practical control systems, there’s always some uncertainty in the plant. In order to overcome the uncertainty, the pole-assignment PID control theory is proposed. At the same time, the least square theory is used to identify the plant in the real-time. And parameters of the controller are changed correspondingly. The result of simulation proves that self-tuning PID-controller based on pole-assignment control theory has good tracking and robust capacity.Good stability is needed while turn-table is running. The output of the controller will be saturated if a large step is input. The S-curve algorithm is elaborated here. The algorithm is used as the track input of turn-table. So the problem of large step is avoided. The result of application confirms its availability.更多还原