水下仿真转台系统的QFT控制

以水下转台的研制为背景，对同轴套装双无刷直流电动机驱动系统及其特殊问题进行了研究，并应用ＱＦＴ控制理论设计系统的鲁棒解耦控制器。该方法在保证系统闭环稳定性和动态性能前提下，使解耦控制器对系统作最大限度地解耦，仿真和实验结果表明，这种鲁棒解耦控制器效果良好。

Multivariable QFT control of underwater table

On the basis of underwater table, a pre-controller and an internal model reference loop (IMRL) controller are designed using multivariable quantitative feedback theory for the uncertain MIMO system after analyzing the coaxial double brushless DC motor system. The two controllers cause the coupled system to behave like the uncoupled system with properly choosing pre-controller and the reference model. To realize robust disturbance rejection and robust tracking, an outer-loop controller in the well-known sequential design is designed. Results indicate that the request of system performance is satisfied, at the same time, the applicability and effectiveness of the proposed method are verified.