基于扩张状态观测器的快速反射镜控制研究

为了提高快速反射镜的动态性能并降低跟踪误差,提出了利用扩张状态观测器引入反馈和灰色PID模型控制相结合的方法,该方法基于音圈电机驱动的快速反射模型,采用离散跟踪微分器对输入信号进行过渡和滤波以及对子系统零点配置,并以扩张状态观测器引入反馈和灰色PID控制,对系统的不确定因素进行了估计和补偿,并同不完全微分PID和基于跟踪微分器的零点配置方法进行了性能比较。采用随机正弦信号进行跟踪仿真,仿真结果表明,采用文中算法的跟踪效果明显优于其他算法,且跟踪误差更小,被控对象的动态性能更优,尤其在系统的模型参数发生变化时。该方法具有良好的工程应用价值。

Research on controlling fast steering mirror based on extended state observer

Based on fast steering mirror′s model driven by the voice coil motor,a controller design by discrete tracking-differentiator,extended state observer and grey PID control for promoting the fast steering mirror′s dynamic ability and declining tracing errors was proposed.The discrete tracking-differentiator used for dealing with transient conditions and filtering,and configure the subsystem′s zeros.Extended state observer and grey PID estimated and compensated uncertain parameters of the plant.Via simulation under signals appended random disturber,it′s show apparently that the extended state observer and grey PID control arithmetic tracking effect and tracking errors are prior to others as mentioned,especially the plant′s parameters varied,and it is proved that this method comparatively has feasibility.