基于NDO的飞行模拟转台伺服系统跟踪控制

针对飞行模拟转台伺服系统跟踪控制问题,提出了一种基于非线性干扰观测器(nonlinear disturbance observer, NDO)的反推全局滑模控制方案。该方案利用NDO观测系统的参数不确定性及非线性摩擦干扰,通过选择适当的设计参数使观测误差指数收敛,进而对引入NDO的系统采用反推全局滑模设计控制器,控制律的设计保证了闭环系统的稳定性。仿真结果表明,所提控制方案能够有效克服参数不确定性及非线性摩擦干扰的影响,实现了转角位置的精确跟踪,并且有效去除了控制抖振。

Tracking control of flight simulator servo systems based on NDO

Aiming at the tracking control problem of flight simulator servo systems,a backstepping global sliding mode control scheme based on nonlinear disturbance observer(NDO) is proposed.In the controller design,the NDO is employed to observe the parameters uncertainties and nonlinear friction disturbance of the system.The observer error is guaranteed to be exponential convergence by suitably choosing the deisgn parameters.A backstepping global sliding mode controller is designed for the system with NDO,and the pr...