稳定平台非线性误差伪微分负反馈控制

为了进一步提高稳定平台的抗干扰能力,提出了一种基于非线性误差伪微分负反馈NLE PDFF控制新方法.首先,建立了稳定平台的数学模型;然后,设计了非线性误差反馈环节和伪微分负反馈控制器;最后,对首次提出的NLE_PDFF控制器在飞行器模拟转台上以5 Hz以内频率扰动作用,测试其抗扰动的性能.实验结果表明,对比传统的平方PI控制器,采用NLE_PDFF控制器,系统的扰动隔离度提高34％.该控制器成功应用于某型稳定平台中,经充分考核,验证了其有效性.

PDFF based on nonlinear error feedback of stabilized platform

In order to improve isolation degree of disturbance,a new PDFF controller based on nonlinear error feedback was proposed.Firstly,Mathematical model for precision analysis was formulated to evaluate the performance of the presented approach.And then,the nonlinear error feedback and the PDFF controller was designed.Finally,An experiment was performed to test the disturbance rejection of the PDFF based on nonlinear error feedback when the speed disturbance was from 1 to 5 Hz as compared with the traditional square PI compensation method.The results show that NLE_PDFF can reduce the disturbance error 34％.The algorithm has been successfully applied to a stabilized platform.