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題名 | Optimal Trajectory Tracking System Design by Leqg/Ltr Method=最佳軌跡追蹤系統設計之線性指數二次高斯及迴路轉移函數回歸法研究 |
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作者 | 林君明; 張哲旭; 蔡渙良; | 書刊名 | Journal of the Chinese Institute of Electrical Engineering |
卷期 | 4:1 1997.02[民86.02] |
頁次 | 頁15-26 |
分類號 | 447.85 |
關鍵詞 | 線性指數二次式高斯法; 迴路轉移函數回歸法; 傾斜轉彎; Linear exponential quadratic gaussian; Loop transfer recovery; Bank-to-turn; |
語文 | 英文(English) |
中文摘要 | 本文提出一種以線性指數二次式高斯及迴路轉移函數回歸法從事最佳軌跡追蹤系 統設計。由於本法所設計最佳狀態迴授控制器及前饋追蹤控制器能同時考慮系統本身及量測 所產生的雜訊,因此本文所提出的方法比線性二次式高斯法更具強健性。本文推導一種能同 時考慮時域、頻域設計規格及強健性設計法則,並以諧調式傾斜轉彎自動駕駛儀之動態情況 來進行六自由度飛行設計模擬,以說明本方法對擾動、量測雜訊及氣動力交互耦連更具強健 性,同時亦顯示時域響應也較佳。 |
英文摘要 | The original method for an optimal trajectory tracking system design by the Linear Exponential Quadratic Gaussian (LEQG) and Loop Transfer Recovery (LEQG/LTR) methodology is presented. The optimal trajectory tracking system consists of a robust statefeedback controller and an adaptive feedforward controller. Those controllers designed by the proposed method can take the covariances of both system and measurement noises into consideration, whereas the traditional LQG and LQG/L TR method cannot. The design algorithms considering all the time domain, frequency domain, and robustness techniques is also developed. An example of coordinated Bank-to-Turn (BTT) missile autopilot design is given, which demonstrates that the LEQG/L TR method is more robust to disturbance, sensor noise, and aerodynamic cross-coupling. Besides, the time domain responses of six-degree-of-freedom simulation are better than those obtained by the LQG/L TR method. |
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