基于DSP的高精度陀螺稳定平台伺服控制器研制

设计了一个基于TMS320F2812 DSP的陀螺稳定平台伺服控制器,详细介绍了系统的软硬件设计.该控制器充分利用了DSP芯片周边接口丰富、运算速度快的特点,使所设计的系统硬件结构简单;将摄像机的位置和速度采样值作为反馈值组成位置和速度闭环,摄像机获得的目标位置作为给定值,控制器速度环采用模糊控制.实验结果表明,该系统硬件结构简单、稳定性好,具有良好的稳态和动态性能,能够满足稳定平台的性能要求.     

自抗扰控制在陀螺伺服稳定系统中的应用

为了克服传统设计方法在抗干扰性和鲁棒性上的不足,在陀螺伺服稳定系统中引入了自抗扰控制方法。建立受控陀螺伺服稳定系统位置环伺服回路的数学模型,并介绍具有非线性结构的自抗扰控制器（ADRC）的基本理论。根据系统的动态指标要求,设计伺服回路的自抗扰控制器。     

舰载天线稳定平台伺服控制器研究

采用高性能32位DSP TMS320LF2812,以速率光纤陀螺和水平倾角仪为传感器,研究位置环+速度环的双闭环舰载天线稳定平台控制器;针对舰船主桅杆顶的大振动、强冲击以及长天线倒单摆式惯量负载等干扰跟踪精度因素,在速度环,设计一种PID和模糊控制的多模结构复合型控制方案;在平台上安装倒单摆式仿制天线进行实验,实验结果表明该稳定平台控制器的动、静态特性很好,稳定隔离精度小于1°。     

基于DSP的光学探测陀螺稳定系统的设计与实现

设计了一种以DSP为处理核心的高精度的光学探测陀螺稳定系统。介绍了以CCD图像和旋转变压器测角组成系统位置闭环,以光纤速率陀螺作为惯性速率反馈传感器组成系统速率闭环的复合控制系统以及系统的软硬件设计。     

单轴稳定平台伺服控制器设计与实现

为快速隔离载体扰动,准确跟踪目标,保证平台相对惯性参考系稳定,设计了以IMU(inertial measurementunit)、编码器和电流传感器的输出值作为反馈,形成了电流环、速度环和位置环的三闭环单轴稳定平台控制系统,控制器以高性能DSP——TMS320LF2812为核心。研究了控制器的基本原理、主要硬件模块及软件设计,介绍了一种改进PID的矢量控制的控制策略。大量试验数据表明,系统具有硬件结构简单、稳定性好、稳态精度高、动态响应快等特点,系统实际运行特性达到了设计指标要求。     

光纤陀螺在稳定平台伺服系统中的应用

光纤陀螺以响应快、精度高、稳定性好等优点,作为反馈器件广泛应用于各种高精度稳定平台伺服系统中。由于光纤陀螺对供电电源要求很高,设计了基于共模扼流圈的滤波器,消除由伺服系统控制器开关器件高频工作带来的高幅谐波。针对陀螺输出信号范围大的特点,对其进行适当的限幅处理以提高精度;针对远距离传输的要求,对信号采取电流传输的方法,以提高抗干扰能力。     

高精度数字稳定平台控制系统设计与实现

针对高精度数字稳定平台稳定跟踪目标、快速隔离扰动的要求,设计一款基于浮点型DSP控制器TMS320F28335的数字稳定平台系统。选用高精度测量元件提高系统测量精度;引入电流环提高系统控制精度、动态特性及隔离扰动能力;通过调零调漂补偿电路、硬件滤波电路及数字滤波算法设计保证陀螺采样精度。系统测试表明,该稳定平台系统能精确、稳定地跟踪目标并能有效地隔离载体扰动。     

无人侦察机目标跟踪系统鲁棒控制

在已建立的陀螺稳定平台数学模型的基础上,利用定量反馈理论,设计了无人机目标跟踪系统的鲁棒控制器,并对某型无人机目标跟踪鲁棒控制系统进行了仿真,结果表明:采用QFT鲁棒控制器可以有效地消除干扰影响,较好地实现了高低环与方位环的解耦,较准确地实现了目标跟踪.     

基于双环结构的视觉伺服云台控制器设计

针对二自由度视觉伺服云台中相机低采样率的缺陷,基于角度与像素之间的转换关系,提出了一种双环结构的控制方案。在角度环控制器设计中,将满足LQ最优准则的扩展状态反馈与状态观测器设计整合为一个 设计问题,并增加了可调参数k,兼顾了角度环的响应速度与超调量;在图像环控制器设计中,通过辨识获得了相机的动态特性,给出了图像环PI控制器参数整定原则。该设计方法在实际系统上取得了较好的伺服效果,对快速性和超调量要求高的控制器设计有一定的指导作用。     

船载卫星天线伺服系统仿真设计

为了实现船只在海上航行时卫星天线平台的稳定工作，设计了方位轴伺服控制系统。天线系统主要由无刷直流电机、天线组、GPS定位系统、航向角传感器、角度编码器和角速率传感器（即陀螺仪）等组成。根据系统工作原理，以一个自由度为例．通过角度环和角速度环的双闭环动态设计实现系统；最后，利用MATLAB语言进行仿真实验。结果系统的超调量和跟随性能良好，能满足设计要求。在实际应用中，可以扩展到三个自由度，用于在船舶以及其他外界波动较大的场合，以实现工作平台的稳定。     

Some considerations for estimator-based compensator design

In this paper some criteria are presented for dividing the closed-loop system poles of a feedback system between the estimator and the controller when using an estimator-based compensator. The criteria are based on frequency response considerations, but are related to some well-known facts in the time domain. It is well known, for example, that the closed-loop system poles are the poles of the estimator in union with the controller poles. It is also well known that the time response of the closed-loop plant states due to a command depends only on the closed-loop control poles, and the response of the estimate error depends only on the closed-loop estimator poles. In the frequency domain, the following can be said: the open-loop compensator transfer function from the sensor measurement to the control and the closed-loop transfer function from the sensor measurement to the system output are both independent of how the closed-loop poles are distributed between the controller and the estimator, but the closed-loop transfer function from the command to the control or system output is not. Placing the slower closed-loop poles in the controller causes the control gains to be smaller, which in turn causes the effect of the command signal to be attenuated, both at the control and at the closed-loop system output. Making use of these facts allows the closed-loop poles to be divided between the controller and the estimator on a more intelligent basis than ‘the estimator poles should be three times faster than the controller poles’. In an example, these concepts are applied to the design of a platform despin control system for a dual-spin satellite.     

Output feedback control of nonlinear systems subject to sensor data losses

In this work, we focus on output feedback control of nonlinear systems subject to sensor data losses. We initially construct an output feedback controller based on a combination of a Lyapunov-based controller with a high-gain observer. We then study the stability and robustness properties of the closed-loop system in the presence of sensor data losses for both the continuous and sampled-data systems. We state a set of sufficient conditions under which the closed-loop system is guaranteed to be practically stable. The theoretical results are demonstrated using a chemical process example.     

基于观测器的非线性网络控制系统容错控制

研究了一类基于观测器的非线性连续网络控制系统容错控制器设计问题.针对传感器采用时间驱动方式,控制器和执行器均采用事件驱动方式的网络控制系统,设计了观测器,建立了基于状态观测器的增广闭环系统模型.利用线性矩阵不等式和自由权矩阵的方法,推导出闭环系统渐近稳定的充分条件,给出了观测器和容错控制器协同设计的方法.实例仿真证明了所用方法的有效性.     

线性不确定系统具有完整性的一种设计方法

研究了参数不确定状态反馈控制系统的鲁棒容错问题，目的是设计状态反馈控制器使得对可容许的参数不确定性及传感器失效故障或／和执行器失效故障，系统依然保持全局渐近稳定，具有完整性。基于Lyapunov稳定性理论，应用矩阵的谱半径和最小特征值等概念，分别针对传感器失效、执行器失效以及传感器和执行器同时失效三种情况，推导出使闭环系统渐近稳定的三个定理，给出了一种新的、简单的控制律设计方法和设计步骤。最后，给出了一个设计算例，并就各种可能的传感器或／和执行器失效故障情况进行了仿真分析，应用研究结果验证了所提出方法的有效性和简单性。     

A note on the robustness of high-gain-observer-based controllers to unmodeled actuator and sensor dynamics

It is shown that a nonlinear output feedback stabilizing controller, which combines a globally bounded state feedback controller with a high-gain observer, is robust with respect to unmodeled fast actuator and sensor dynamics. The actuator and sensor dynamics need to be sufficiently fast relative to the dynamics of the nominal closed-loop system under state feedback, but they need not be faster than the observer dynamics.     

高空作业平台广义预测自适应控制及联合仿真*

为减少工程车辆控制系统开发周期和成本,以某型54m高空作业平台电液比例调平系统为研究对象,利用ADAMS软件建立作业机构多体动力学模型;采用AMESim软件建立电液比例调平系统模型;通过MATLAB/Simulink设计,采用改进的广义预测自适应控制的闭环控制器;以AMESim作为主仿真环境,通过软件接口将多体动力学模型和控制系统模型集成到AMESim中进行联合仿真。仿真结果表明,闭环控制器较常规PID控制器具有良好的动态特性,对模型失配和负载扰动表现出更强的适应性和鲁棒性,同时也证明了联合仿真的有效性。     

基于模型的闭环系统故障检测的一种新方法

针对在闭环控制系统中,如何取得产生残差的最佳信号的问题,通过对单输入单输出闭环系统各种故障的Matlab仿真研究及结果分析,提出了一种基于模型的闭环系统故障检测的新方法。该方法把控制器的输出残差和系统的输出残差结合起来检测故障,并且考虑到了在实际系统中控制器可能饱和的实际情况。这种检测故障的新方法对于实际系统可能发生的各种故障(如执行器,传感器故障)更为有效,可以提高系统检测故障的性能,减少了系统故障的漏报率。     

Design of stable proportional-integral-plus controllers

There are a number of reasons why, in practical situations, implementation of an unstable dynamic controller may be undesirable. In particular, sensor failure can result in a forward path which is unstable and might severely damage the plant. As with many dynamic controller design techniques, the PIP design philosophy may produce controllers which stabilize the closed-loop system, but are themselves unstable. This paper builds upon the existing PIP design philosophy, introducing a design step which stabilizes the PIP controller. This design strategy not only stabilizes the controller, but also ensures that the equivalent closed-loop transfer function of the system remains identical (in the absence of model mismatch) to that of the original PIP closed-loop system.     

Set theoretic approach to fault-tolerant control of linear parameter-varying systems with sensor reintegration

In this paper, we present a fault-tolerant control scheme for linear parameter-varying systems that utilises multiple sensor switching to compensate for sensor faults. The closed-loop scheme consists of an estimator-based feedback tracking controller and sensor-estimate switching strategy which allows for the reintegration of previously faulty sensors. The switching mechanism tracks the transitions from faulty to healthy behaviour by means of set separation and pre-computed transition times. The sensor-estimate pairings are then reconfigured based on available healthy sensors. Under the proposed scheme, preservation of closed-loop system boundedness is guaranteed for a wide range of sensor fault situations. An example is presented to illustrate the performance of the fault-tolerant control strategy.     

Achievable closed-loop properties of systems under decentralizedcontrol: conditions involving the steady-state gain

The question of the existence of decentralized controllers for open-loop stable multivariable systems which provide particular closed-loop properties is investigated. In particular, we study the existence of decentralized controllers which provide integral action (Type I closed-loop performance) and also demonstrate one or more of: unconditional stability, integrity with respect to actuator and sensor failure, and decentralized unconditional stability. Necessary, sufficient, and, in some cases, necessary and sufficient conditions on the open-loop steady-state gain are derived such that there exists a controller which provides these desired closed-loop characteristics. These results provide the basis for a systematic approach to control structure selection for decentralized controller design