Robust Control System Design For Triaxial Air-bearing Turntable

The thesis research on the problems in the design of the attitude control system controller using robust control method and give general steps of robust controller design in attitude control system.Firstly, the nominal model of attitude control system is given by analyzing the mechanism of the system. Based on the nominal model, several uncertainty factors which impact on the system performance are found out and analyzed, including the uncertainty caused by changing of the load of the system, and un-modeled uncertainty in the system. The impacts of uncertainties to the system performance are analyzed and uncertainty control description in attitude control system is given. Secondly, research on the foundational theory and method of robust control, and the related theories are introduced. The necessary and sufficient conditions of robust stability and robust performance are given. The modeling principle of general objects and the selecting principle of weighting function are discussed.Thirdly, the uncertainty blocks different performance characteristics of the system are chosen when analyzing the problem. According to the uncertainty blocks of the system, the controller design problem of the feedback control system can be formulated asμsynthesis problem and the requirement of stability and performance are given. And the selection principles of weighting functions are presented.Finally, the theoretical results are simulated with Matlab robust toolbox. The uncertainty model of the system is built, the weighting function are given by the selection principles. The dynamic performance of the closed-loop system is simulated by numerical methods. A comparison experiments are given. At last, the general method of the designing of an attitude control system is presented.