大型随动圆顶自抗扰控制方法研究

针对大型随动圆顶具有大转动惯量,且存在非线性摩擦的特点,根据自抗扰控制原理,设计圆顶随动系统控制器,提高系统的动态性能。介绍了圆顶随动系统的构成及简化模型;以及基于自抗扰控制器的圆顶随动系统设计方案,并给出了控制器参数整定方法。最后,进行了Simulink仿真和实验验证。实验结果表明,相对于传统的PID控制器,自抗扰控制器既可以保证系统在无超调的情况下快速响应,又能够抑制摩擦和死区等非线性因素对系统跟踪性能的影响,可以有效提高圆顶随动系统的动态性能。

Active Disturbance Rejection Control Algorithm Research for Large Tracking Dome System

According to characteristics of the large tracking dome by large inertia and nonlinear friction, an Active Disturbance Rejection Controller (ADRC) was designed to improve the dynamic characteristics of the tracking dome system. The basic structure of the tracking dome system and working principle of ADRC was introduced, and the experimental method of adjusting parameters of ADRC was given. Finally, compared with traditional PID the ADRC controller was analyzed by computer simulation using Simulink and actual experimental tests. Simulation and actual results show that ADRC can achieve a higher response speed without overshoot, and reject the influence of nonlinear factors such as friction and saturation. Experimental results show that ADRC can improve the dynamic characteristics of the tracking dome system.