Study Optimal Preview Control Of Tracking Three Dimensions Space Random Object Trajectory

In trajectory control, it is requested that the system not only can track target trajectory, but also is robust and has the ability of restrain interfering signals. In the field of mechatronics control such as robot control, machine tool control and so on. Lots of future information can be used. Therefore in order to improve the precision of trajectory control system and enhance robustness of a system, the optimal preview control can be adopted. The optimal preview control method of the linear system is studied. In the method of optimal preview control, tracking errors and control increments are both considered in the quadratic cost function. Integrating the general optimal servo system with a preview feedforward compensator that feeds future target value and future interfering signals produces an optimal preview servo system. This integration will enhance the performance of the servo system. The key technique of choosing preview steps is studied. The relationship between cost function value and preview steps is studied and methods of choosing preview steps are proposed. This article discusses optimal preview tracking control of plane object trajectory and optimal preview tracking control of space three dimensions object trajectory by qualitative and quantitative analysis, and then put forward the algorithms of optimal preview control.In this article aiming at the plane trajectory tracking error model, combine optimal preview control with robust control and put forward a simple effective high precision, high reliability and robustness trajectory tracking control method, the result of simulation shows that the method is valid and reliable.In plane trajectory tracking control, put forward optimal preview control method of plane trajectory tracing based on trajectory error area. The method has very good performance in plane trajectory tracking control. But when come to track space object trajectory, this method is hard to realize good trajectory tracking performance, especially in great variety space object trajectory and severe outside disturbance control system, it is more difficult to improve the capability of trajectory tracking. Aiming at these problems this article put forward a kind of optimal preview tracking control method, which consider trajectory tracking harmony error and trajectory tracking position error at the same time. It is said that we regard known space object trajectory tracking harmony error and position error as state variable at the same time, then put in practice optimal preview tracking control, thereby it is valid to improve the system performance of space object trajectory tracking. The simulation result shows the space object trajectory tracking method is valid.