Research On Experience And System Of Robust Optimal Preview Control Of Tracking Space Object Trajectory

The optimal preview tracking control algorithm is a kind of algorithms that utilize synthetically the information in the future , now and the past. It has great trajectory tracking precision , good robustness and ideal response speed,stability. Based on the theory of optimal preview control ,from the deduce of the optimal preview tracking control algorithm, to the construction of experiment system, to the establishment of model, to the simulation and finally to the experiment. the thesis totally exhibit this process.The thesis detailedly deduce optimal preview tracking control basic theory that applied in the linear system. In the article, we take aways of break space object trajectory up to three aixed direction to track, deduced one of optimal preview tracking control algorithm,it make enlarged error system become new state variable. In the evaluation function, the theory think of both tracking error and control input change, it also make future information of the object trajectory become feedforward compensation. In the thesis, we make use of differential optimal function to simplify the procedure of getting optimal control input, it make the algorithm more practical.Based on the study of former, the thesis make some research on the study of theory of optimal preview control and robust control. The key technique of choosing preview steps is studied and methods of choosing preview steps are proposed.The thesis decompound object trajectory, and then respectively tracking to research practicability of the optimal preview control algorithm, so the thesis design a set of tracking control experiment system. The system make the Universal Motion Automation Control (UMAC) the core. The actuating mechanism be made up of servo motor and precise position platform, they have ideal response speed and command response precision. The thesis establish the mathematical model of the experiment system on the basis of theory analysis and experiment, and then emulate the system. The result indicate the algorithm is effective basically in theory. But the result also indicate the algorithm has some problems that involve parameters initialization. It directly affect the precision of the algorithm utilization, and it also restrict the algorithm utilizing in practical manufacture. The paper make some research in practicing. Finally, the thesis experiment with the emulate result. The experiment result indicate the optimal preview algorithm is practical when working accuracy don't be strictly limited. It also indicates the deviation between the simulation and the experiment apparentely ,and we make some analysis of the current cause. so, we should enforce the study of application of optimal preview tracking control algorithm, Only the composition of practice and theory, it will show powerful vitality.