基于采样控制理论的光电跟踪伺服系统内模控制研究

针对外部扰动对光电跟踪伺服系统精度的影响，对稳定回路提出了一种两自由度内模控制，将控制器的设计转化为标准的H∞优化问题，使得系统对模型误差及参数摄动具有较强的鲁棒性。采用jump变换、提升操作等采样控制系统的理论与方法来优化设计相应的鲁棒控制器，综合考虑了系统的多采样率行为及采样点间的动态特性。仿真结果表明了所设计的控制系统具有较高的指令跟踪精度及较强的扰动抑制性能。本文的研究为高精度光电跟踪伺服控制系统的设计提供了新方法。

Internal Model control for Electro-Optical Tracking System Based on Sampled-data Control Theory

In this paper, a kind of two-degree-of-freedom internal model controller for electro-optical tracking servo system is presented. By converting the design of controller to a H∞ optimization problem, the system can obtain good robust performance. Considering the dynamic behavior between sampling time and multi-rate signals in system, the sampled-data control techniques such as jump transform, lifting and so on are used to the synthesis of robust controller. The simulation results show that the designed internal model controller not only can guarantee good attenuation of disturbance as well as the tracking performance, but also can finally satisfy speed control requirement for high-performance linear servo systems. By this way, the works in this paper give a new method to design the controller for servo system of electro-optical tracking.