五自由度气浮台位置和姿态的分数阶控制

Fractional order control for position and attitude of 5-DOF air-bearing simulator

摘要:

针对五自由度气浮台星体模拟器的姿态平台和位移平台,分别设计分数阶滑模控制器和分数阶PDμ控制器. 首先,针对具有重力不平衡力矩和执行机构安装偏差的姿态平台模型,设计了模糊参数自整定的分数阶滑模控制器. 利用分数阶微分算子的信息记忆性与遗传特性,在传统滑模控制中引入分数阶微分算子,利用模糊推理机制进行开关增益参数的自整定,使新型控制器具有模糊控制、分数阶微分和滑模控制等多重优点. 利用分数阶Lyapunov稳定性定理,证明了系统的稳定性. 其次,针对与姿态平台有耦合效应的位移平台模型,设计了分数阶PDμ控制器;最后,在仿真过程中考虑执行机构的实际运行特性,以数值仿真的形式进一步说明了所提出控制器的有效性和良好的控制性能.

Abstract:

A fractional order sliding controller and a fractional proportional differential controller are designed for attitude and position of 5-DOF air-bearing simulator, respectively. Firstly, a new fuzzy parameter self-tuning robust fractional sliding mode controller is designed for attitude platform model under considering gravity unbalance torque and actuator assembling error. The fractional differential operator is introduced in traditional sliding mode control because of its information memory and genetic characteristics, and then switching gain parameter is achieved self-tuning by fuzzy reasoning mechanism, so that the new controller has the multiple advantages of fuzzy control, fractional differential operator and sliding mode control. The stability of the whole system is proved by Fractional Lyapunov Theory. Secondly, a fractional proportional differential controller is proposed for translational platform considering coupling effects with attitude model. Finally, the actual operating characteristics of the actuator are considered in the process of the simulation. Numerical simulations are also included to reinforce the analytic results and to validate the excellent effect of the new robust fractional sliding mode controller.