Trajectory Tracking Control Of Three Degrees Of Freedom Gyroscope Based On Three-step Method

As an important technology related to social life and national defense construction,gyro control is a key problem faced in the development of intelligent,autonomous and unmanned equipment.It is widely used in navigation,aviation,aerospace,industry and other fields.In this paper,the angle trajectory tracking control of the 3-DOF gyroscope produced by Quanser company in Canada is studied by using the three-step method and the extended observer control strategy.The main research contents of this subject as follow:(1)The control system and physical structure of the three-degree-of-freedom gyroscope are introduced.The nonlinear mathematical model is established based on its working mechanism.The accuracy of the nonlinear and linearized model is verified by opening the loop.Then the linear quadratic regulator(LQR)and proportional integral differential control(PID)simulation experiments were carried out under Matlab/Simulink to verify its control performance.(2)Three degrees of freedom gyro based on three-step method,studied the trajectory tracking control method,the three-step control law is derived,including steady state control,the reference dynamic feedforward control and feedback control,and by using linear matrix inequality(LMI)optimize the control parameters,and at the same time to reduce the reference signal sudden change on the impact of the actuator,through the reasonable arrangement of the transition process,To reduce the drastic change of control quantity,and to verify its robustness,interference experiments were added.Finally,the simulation and experimental results show that the control method can track all kinds of input waveform well,and the control performance is stable,the error is small,and has certain robustness.(3)In view of the three-step controller designed can recover to the stable state as soon as possible after adding disturbance,the extended state observer is introduced to observe the disturbance quantity,and the disturbance quantity feedback compensation is carried out,and the disturbance can be suppressed as fast as possible.The simulation results show that the expanded state observer is added to the three-step method,and the disturbance observation and compensation can be carried out at the same time.The disturbance can be suppressed faster and the system can be restored to the stable state faster.