高机动条件下车载大惯量稳定平台自适应鲁棒控制研究

Stabilized tracing platform has been widely used in military and civil field. However, with the enhancement of the mobility of the tracked target and the platform, the requirement for fast tracking control of stabilized platform under the condition of high mobility is more and more difficult and control technique is becoming the core constraint of this difficult problem. This subject regards the vehicle-mounted large inertial stabilized platform as the research object. Due to the natural bottlenecks of the existing control methods in improving the control performance of the platform under the condition of high mobility, some novel control methods have been proposed. The main nonlinear characteristics (e.g. friction) and multi-rate characteristics of the system have been fully considered in this subject, and the nonlinear normal mode of the system in running process has been deeply analyzed. The system has been modeled as a time-varying nonlinear system with switching features. In the framework of adaptive robust control, combined with switching control theory and “Perfect Tracking Control” theory, an adaptive robust control method with switching model has been proposed for a class of nonlinear systems with time variation, nonlinearity and uncertainty. Furthermore, an adaptive robust subdivision control method with switching model has been proposed for a class of nonlinear systems with multi-rate sampling and uncertainty. The analysis and synthesis of the novel control methods have been accomplished in this subject. Finally, novel control methods have been applied to the position tracking control of the vehicle-mounted large inertial two-axis stabilized platform. By the contrast test with the traditional control, the effectiveness of the novel control methods proposed in this subject has been demonstrated.

稳定跟踪平台在军事与民用领域应用越来越广泛,但随着被跟踪目标及平台载体的机动性越来越强，实现在机动条件下对目标的高精度稳定跟踪越来越难,传统的控制方法难以实现，控制技术成为制约解决这一难题的核心。本课题以车载大惯量稳定平台为研究对象，充分考虑系统存在的主要非线性特性（如摩擦）及多采样率特性，对其运行过程中非线性模态进行深入的分析，将系统建模成一类具有切换特性的时变非线性系统，在自适应鲁棒控制方法的框架下，结合切换控制理论与“完全跟踪控制”理论，提出一类具有切换模型的时变非线性不确定非线性系统的自适应鲁棒控制方法，以及一类具有多采样率不确定非线性系统的自适应鲁棒细分控制方法，完成控制理论方法的分析与综合。最后将其应用到车载大惯量双轴稳定平台的位置跟踪控制，并将其与传统的控制方法进行对比试验，验证本课题提出的控制方法的有效性。

本课题以车载大惯量稳定平台为对象，针对机动条件下目标跟踪的实际需求，对不确定高阶非线性系统进行研究。本项目构造了一套不确定高阶非线性切换系统的自适应鲁棒控制方法，解决了稳定平台在高机动条件下难以准确地进行目标跟踪这一难题。.深入考虑摩擦非线性与多采样率特性，对稳定平台进行了系统摩擦的切换模型建模和多采样率特性建模，精确刻画系统非线性特性。提出了多种数据驱动的基于梯度的方法和自适应动态规划方法，包括一种数据驱动最优切换时间控制方法、数据驱动最优切换方法和给定切换顺序条件下的数据驱动最优切换时间控制方法、数据驱动ADP最优切换方法、基于数据驱动的ADP方法，解决了模型未知的连续时间切换系统最优切换控制问题。提出了一系列数据驱动自适应优化控制方法，包括数据驱动鲁棒AOC方法、切换型数据驱动AOC方法、带有非线性补偿和数据驱动最优参数估计的AOC方法、带有最优状态观测的数据驱动AOC方法，得到最优控制策略，并且保证了算法的收敛性和系统的稳定性。在参数不确定性存在的情况下，以及跟踪信号更新率低的情况下，提出了一种四模块结构的非线性伺服系统鲁棒完全跟踪控制，有效解决了非线性摩擦对系统的不良影响，将完全跟踪控制算法应用到了考虑非线性摩擦建模的伺服系统中，实现了非线性伺服系统的高精度跟踪。.最后对所建模型和所提方法进行了系统验证，包括摩擦系统辨识试验、基于切换模型的自适应鲁棒控制方法试验验证、自适应鲁棒时变参数摩擦模型补偿方法试验验证、细分控制器试验验证，综合分析了所提出控制算法的各项性能，验证了控制算法的实用性与鲁棒性。