雙軸武器載台之模型建置及強健控制器設計

Modeling and Robust Controller Design for a Biaxial Weapon Carrier

葉富鈞(Fu-Chun Yeh) ； 李忠儒(Jhong-Ru Li)

《中華科技大學學報》 66期 (2016/04) Pp. 35-49

摘要

本文提出一雙軸武器載台之模型建置及強健控制器設計，以武器載台為設計本體，透過參數估測理論，建立全系統之數學模式。本研究採用直流馬達驅動武器載台，配合武器載台經分析直流馬達之物理模式，確定馬達系統以三階數學模型趨近就可滿足較佳系統需求。接著透過強健控制(Roust Control)法則進行控制，使馬達能在極短時間內達到快速反應，讓武器載台之系統穩定度能滿足需求及快速精確的瞄準目標。本研究引入PID控制器(Proportional-Integral- Derivative controller，PID)與強健控制器做比較，使用MATLAB程式中的Simulink模組進行分析模擬，經由系統參數調變驗證強健控制系統之穩定性的確優於PID控制器。本研究經由系統模擬整理出四項系統性能:超越量(Overshoot)、安定時間(Settling time)、上升時間(Rise time)及穩態誤差(Steady-state error)。模擬結果顯示，強健控制器在上升時間及安定時間優於PID控制器之參數，另外穩態誤差及超越量方面，強健控制器與PID控制器具有接近的結果，都能在較短的時間內達到系統的穩定度，由理論分析及模擬驗證都證明強健控制器對雙軸武器載台具有優越的控制效果。

關鍵字

直流馬達 ； 武器載台 ； 強健控制 ； PID控制器 ； 精密定位控制

並列摘要

This paper addresses a model establishment for a biaxial weapon carrier and a robust controller design, to design the weapon carrier, through the parameter estimation theory, and establish mathematical model of the whole system. This research, which adopts DC motor drive weapon carrier and works with weapon carrier by analyzing physical model of DC motor to determine motor system which using third-order mathematical model approach, can be satisfy the system requirements. Through the robust control law, the motor can achieve a quick response in a short time, so that the system stability of the weapon carrier can satisfy the requirements of quick response and precision aim at target. In this research, lead into the PID controller compared with the robust controller, using the Simulink modules to analyze computer simulation in MATLAB, through the system parameters modulation to verify the stability of robust control system is indeed better than the PID controller. In summary, computer simulations measured four system performances: overshoot, settling time, rise time, and steady-state error. The simulation results show the rise time and settling time parameters of the robust controller are excellent compared to the PID controller. For the other aspects of the steady-state error and overshoot, the robust controller and the PID controller have close results. The weapon carrier design can in a short time achieve stability of the system by theoretical analysis and simulation verification, so as to have proved the robust controller for biaxial weapon carrier having excellent effect.

並列關鍵字

DC motor ； weapon carrier ； robust control ； PID controller ； precision position control