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Robust Control System Design for Triaxial Air-bearing Turntable

Author: ChiWeiChao
Tutor: FangBo
School: Harbin Institute of Technology
Course: General and Fundamental Mechanics
Keywords: Air bearing table Attitude Control System Robust Control μ synthesis method Weighting function
CLC: TP273
Type: Master's thesis
Year: 2010
Downloads: 90
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Abstract


Simulator as a gesture motion simulator , spacecraft control system is mainly used for the semi-physical simulation test , the increasing popularity of applications in the field of aerospace . Triaxial flotation turntable can be well on the ground to simulate weightlessness in space occupies a very important position in the moment constraint dynamic environment in many other areas of the spacecraft design . The paper as the background to triaxial flotation turntable control system , control method based on the robust attitude control system design problems . Research content and results mainly in the following aspects : First , the principle of the attitude control system , the establishment of a mechanistic model of the attitude control system . On this basis , the analysis of the moment of inertia of change, not uncertainty modeling uncertainties and other aspects of the mechanism and variety of uncertainties , considering the uncertainty of the impact on system performance , given the attitude control system the uncertainty of the model described in the form . Secondly, the basic idea of robust control method introduced in this article relates to the theory , a necessary and sufficient condition for robust stability and robust performance and generally controlled object modeling method and weighting function the selection principles . Again, through the specific characteristics and performance on the actual system requirements analysis, the uncertainty in the block of the model analyzed and simplified . The basic way of thinking and μ synthesis robust control design method , to make the system robust stability and the necessary and sufficient conditions to achieve robust performance , and discuss the principles and methods of performance weighting function selected . Finally , the attitude control system for a flotation turntable by the previous theoretical analysis to determine the nominal system model and uncertainties bounded function , by Matlab tool solution suitable controller , the simulation and comparison .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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