Design And Analysis Of Servo System Controller For Vehicle Satellite Communication In Motion

"Communication On The Move" system is an application field which is currently demand and rapid development,and has very extensive application prospect both in the field of military and civilian.There are two aspects to the control requirements of the servo system in the vehicle:in order to ensure that the vehicle antenna can perform real-time communication with the satellite in the movement,the servo system needs to have high tracking accuracy.In order to overcome the disturbance caused by pavement bumps,the antenna servo system must have a strong disturbance suppression ability.In view of the above two problems,this paper designs the control algorithm of the servo control system.Firstly,based on the system speed loop model which is obtained from the Hankel matrix identification algorithm,the internal extended LQR state feedback controller is designed to establish the algebraic relationship between the controller parameters and the system open loop gain.Then,the uncertainty model of the system is established.According to the robust stability theory and the small gain theorem and the Kalman equation,the parameter of the robust stability of the system is obtained,and the robust stability margin is defined.The simulation results show that the LQR controller can improve the tracking performance of the system and ensure a certain stability margin.Then,we consider the output feedback,transform the LQR problem into the H2 optimal controller design problem,establish parameterized structure of the optimal controller.The parametric controller Q is introduced into the feedback channel without changing the tracking performance of the system to achieve the effect of suppressing the low band gain below 2Hz of the disturbance channel and calculate the concrete implementation of the controller Q according to the generalized KYP lemma.At the same time,the feedforward controller is designed based on the weighted model matching principle by using the perturbation signal measured by the roof sensor to achieve the effect of suppressing the gain of the band near 2Hz.Finally,this paper introduces the 0.8 meter caliber antenna model identification experiment,swing table experimental results,as well as the actual sports car test results.The results of the velocity loop tracking experiment are basically the same as the simulation results,which proves the correctness of the design controller The controller parameter values used in the practical application are given,and the position loop loop test is performed on the system,and the position loop voltage data is recorded.The experimental results show that compared with the original PI controller,the optimal parameter controller of the internal model expansion has a certain improvement on the control effect of the system.After adding the feedforward controller,the control performance is improved obviously,To achieve a satisfactory control effect.The root mean square of the system position loop differential voltage is significantly reduced.