發(fā)布時間：2018-07-09 12:37

  本文選題：LQG + 卡爾曼濾波器　； 參考：《西安電子科技大學(xué)》2014年碩士論文

【摘要】：抗風(fēng)擾控制方法研究是大型天線伺服控制的重要內(nèi)容,它與大型天線伺服控制系統(tǒng)的控制精度、穩(wěn)定性和魯棒性有著密切的聯(lián)系。針對大口徑天線伺服控制系統(tǒng)在風(fēng)擾動較大的情況下跟蹤目標會產(chǎn)生較大指向誤差的問題,為達到跟蹤精度和指向精度的要求,本文研究了帶有擾動觀測器的PI+LQG控制方法;深入研究了該控制方法應(yīng)用于大型天線伺服系統(tǒng)的具體方法,探討了LQG控制器權(quán)矩陣整定的問題,設(shè)計開發(fā)了相應(yīng)的工程軟件;并搭建天線伺服實驗平臺,對該控制方法進行工程實踐研究。進行了仿真和實際系統(tǒng)實驗,結(jié)果表明伺服系統(tǒng)的性能得到了優(yōu)化,系統(tǒng)對風(fēng)擾動的抑制能力顯著增強。本文主要工作及創(chuàng)造性成果如下:1、研究了天線建模和風(fēng)載建模理論方法。針對LQG控制器需要被控系統(tǒng)精確模型的特點,介紹了天線速度環(huán)建模的方法;分析了天線風(fēng)載荷的組成,介紹了風(fēng)載荷作為天線速度環(huán)輸入模式的建模方法,為控制方法的仿真和實驗提供了風(fēng)擾信號來源。2、針對大型天線受風(fēng)干擾會產(chǎn)生產(chǎn)生形變和振動的問題,提出了在模態(tài)空間坐標系下設(shè)計PI+LQG的方法。LQG模態(tài)控制器根據(jù)kalman狀態(tài)估計器估計的系統(tǒng)模態(tài)狀態(tài),以此作為狀態(tài)反饋應(yīng)用于LQR最優(yōu)控制。分析了LQG控制器權(quán)矩陣整定的方法,設(shè)計開發(fā)了基于Matlab的權(quán)矩陣整定GUI軟件,通過該軟件可以方便快速地完成參數(shù)整定,使系統(tǒng)達到所期望的控制精度和抗風(fēng)擾性能。3、對于系統(tǒng)在恒值干擾作用下kalman估計器出現(xiàn)估值不準的問題,在PI+LQG控制的基礎(chǔ)上加入擾動觀測器來觀測并補償風(fēng)干擾。詳細介紹了擾動觀測器的原理和Q濾波器的設(shè)計方法,通過在Matlab/Simulink平臺上進行仿真實驗,對比于PI控制器說明本文研究的控制方法抗風(fēng)擾能力有大幅度的提高。4、搭建了天線伺服控制實驗平臺,在實際系統(tǒng)中驗證了本文研究控制方法的有效性。介紹了實驗平臺的構(gòu)成,詳細說明了實驗平臺相關(guān)軟件開發(fā)和控制算法軟件的實現(xiàn);在實驗平臺上對本文研究的控制方法進行測試實驗,實驗結(jié)果表明本文研究的控制方法顯著了提高了伺服系統(tǒng)的抗風(fēng)擾能力和跟蹤精度。通過對上述內(nèi)容的研究,為大型天線抗風(fēng)擾伺服控制提出了一種可行方案,為本課題的進一步發(fā)展奠定了一定的基礎(chǔ)。
[Abstract]:The study of wind resistance control method is an important part of the large antenna servo control. It has a close connection with the control precision, stability and robustness of the large antenna servo control system. In the case of large aperture antenna servo control system, the tracking target will produce large pointing error in the case of large wind disturbance, so as to achieve the tracking of the servo control system. In this paper, the PI+LQG control method with disturbance observer is studied in this paper. The specific method of applying the control method to the large antenna servo system is studied. The problem of setting the weight matrix of the LQG controller is discussed. The corresponding engineering soft parts are designed and developed, and the antenna servo experimental platform is set up to control the control. The simulation and actual system experiments are carried out. The results show that the performance of the servo system is optimized and the ability of the system to suppress the wind disturbance is significantly enhanced. The main work and creative results of this paper are as follows: 1, the method of Antenna Modeling and wind load modeling is studied. The LQG controller needs the precision of the controlled system. The characteristic of the model is to introduce the method of the modeling of the antenna speed loop, analyze the composition of the wind load of the antenna, introduce the wind load as the modeling method of the input mode of the antenna speed ring, and provide the source of the wind disturbance signal.2 for the simulation and experiment of the control method, and put forward the problem that the large antenna will produce deformation and vibration caused by the wind interference. The method of designing PI+LQG in the modal space coordinate system.LQG modal controller is based on the system modal state estimated by the Kalman state estimator and uses it as state feedback to the optimal control of LQR. The method of setting the weight matrix of the LQG controller is analyzed. The GUI software is designed and developed based on Matlab, and the software can be convenient through the software. The system achieves the desired control precision and the wind resistance performance.3, which makes the system achieve the desired control precision and wind resistance performance. The disturbance observer is added to the Kalman estimator to observe and compensate wind disturbance on the basis of PI+LQG control. The principle of disturbance observer and the Q filter are introduced in detail. The design method, through the simulation experiment on the Matlab/Simulink platform, compares with the PI controller to show that the control method studied in this paper has a large increase in.4, and the experimental platform of antenna servo control is built. In the actual system, the validity of this method is verified. The composition of the experimental platform is introduced in detail. The software development of the experimental platform related software and the implementation of the control algorithm software are described. On the experimental platform, the control method of this paper is tested. The experimental results show that the control method studied in this paper greatly improves the wind resistance and tracking accuracy of the servo system. Through the research on the above content, the wind resistance of the large antenna is resistant to wind. A feasible scheme is put forward for disturbance servo control, which lays a solid foundation for further development of this subject.
【學(xué)位授予單位】：西安電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TN820.3

【參考文獻】

相關(guān)博士學(xué)位論文 前1條

1 尹正男;具有魯棒性的最優(yōu)干擾觀測器的系統(tǒng)性設(shè)計及其應(yīng)用[D];上海交通大學(xué);2012年

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本文編號：2109382