静电陀螺支承控制的自适应逆控制分析

静电陀螺的支承控制系统中由于不可避免地存在建模不准确及对象扰动,传统的控制器设计只能在系统动态控制与对象扰动消除之间折衷。根据自适应逆控制的结构,利用模糊径向基函数神经网络进行对象建模、逆对象建模和扰动消除建模,设计了带扰动消除的自适应逆控制的八电极静电陀螺支承控制器。仿真表明,该控制器可以同时提高控制的精度和鲁棒性,在保证支承系统动态性能的同时,大大抵消对象扰动的影响,克服传统控制方法的折衷缺陷,对静电陀螺的自适应逆控制器的工程实现具有重要意义。

Suspension control of ESG using adaptive inverse control

Model uncertainty and object disturbance are inevitable in the suspension control system of electrostatic suspension gyroscope. Unfortunately, the previous controllers design has to compromise between dynamic performance and disturbance canceling. This paper introduces an adaptive inverse control with disturbance canceling to develop an suspension control system, which uses fuzzy radial basis function neural network to model the control object, the inverse object and the disturbance canceling. The simulation results show that the controller can simultaneously improve the control accuracy and the robustness, as it can achieve good dynamic performance while canceling most of the plant noise at the same time. It can be concluded that the adaptive inverse controller can overcome the tradeoff limitation of traditional controller, and it is of significance to the realization of ESG suspension control system.