基于惯量辨识的测试转台自适应内模控制

为了降低系统模型参数变化对测试转台控制系统的影响,提出了基于惯量辨识技术的自适应内模控制方案.首先建立了某型号测试转台数学模型,设计了测试转台内模控制器,在此基础上采用基于扰动转矩观测器的惯量辨识算法来辨识测试转台转动惯量的变化情况,然后通过模糊控制器根据转动惯量的变化自动调整内模控制器的参数,从而确保了控制器的控制性能.仿真和实验结果表明,该控制方案对惯量的变化有着很强的自适应性,提高了测试转台控制系统的抗干扰性能和系统的鲁棒性,取得了较好的控制效果.

Adaptive internal model control of a test turntable based on inertia identification

An adaptive internal model controller based on the inertia identification technology is presented to reduce the effect on the test turntable from variations in model parameters. Firstly, an IMC control scheme is designed based on the mathematical model of a type of test turntable. Meanwhile, the inertia identification method using disturbance observer is proposed to identify the inertia variations of the test turntable. Then, a fuzzy logic controller is introduced to adjust the parameters of the IMC controller online according to the inertia variations to ensure the desired performances of the system. Results in simulation and real experiment show that the proposed scheme has a strong adaptation to the inertia variations in enhancing the disturbance rejection ability and improving the robustness of the system.