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针对转台系统三框耦合干扰和不平衡负载干扰等非线性因素的影响,提出了基于非线性干扰观测器的转台鲁棒Backstepping控制器。首先,阐述了鲁棒反演控制器的设计及稳定性证明;其次,通过设计并选择合适参数的NDO控制器,并进一步保证NDO控制器的全局指数稳定性及其有效性。实验仿真表明,这种新型鲁棒控制器能够很好地克服了转台现存的非线性因素影响,非常适合高精度飞行仿真转台系统的鲁棒控制。
Aiming at the non-linear factors such as the three-frame coupling disturbance of turntable system and unbalanced load disturbance, a robust backstepping turntable controller based on nonlinear disturbance observer is proposed. Firstly, the design and stability of the robust inversion controller are demonstrated. Secondly, the NDO controller with appropriate parameters is designed and selected, and the global exponential stability and effectiveness of the NDO controller are further ensured. The experimental simulation shows that the new robust controller can well overcome the existing nonlinear factors of turntable and is very suitable for the robust control of high precision flight simulation turntable system.