以直接力驱动电动舵机为被控对象,提出了一种分离比例-积分控制(PI)与基于李雅普诺夫稳定性理论的模型参考自适应控制(MRAC)相结合的复合控制方案,该方案充分结合了分离PI控制动态性能好和自适应控制抗干扰能力强、鲁棒性好等优点。给出了典型的直接力驱动电动舵机数学模型,设计了分离PI控制与MRAC结合的复合控制算法,并对控制算法进行了仿真。仿真结果表明,使用该控制算法系统具有良好的动态性能和稳态性能,对系统参数摄动具有较强的鲁棒性。

A compound control scheme combining detaching Proportion and Integral control (PI) with Model Reference Adaptive Control (MRAC) based on Liapunov stability theory was formulated,which is used on the plant of direct driving electric-servo-actuator. This scheme combined the good property of each algorithm,such as good dynamic property of the PI and strong anti-disturbance ability and good robustness of MARC. The typical mathematical model of the electric-servo-actuator and the control algorithm combining detaching PI with MRAC were put forward,and the control algorithm was simulated. The result showed that this algorithm has better dynamic and stable property,and good robustness against parameter perturbation.