模糊-线性双模控制在平台稳定回路中的应用  

Application of fuzzy-linear dual-mode control in platform stabilization loop

作　　者：李景森[1] 奚碚华[1] 付中泽[1] 宋超[1] 

机构地区：[1]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2008年第4期390-395,共6页Journal of Chinese Inertial Technology

基　　金："十一五"国防科技重点预研项目(51309010202)

摘　　要：为了克服单闭环系统平台稳定回路在抗干扰性能方面的欠缺,引入速度反馈的双闭环控制。在此基础上,通过多种模糊控制方法的仿真、分析、比较,采用模糊-线性双模控制方案对系统进行校正,模糊-线性双模控制的速度环以及位置环的线性控制器结构都与线性双闭环控制的相同,位置环的模糊控制器为修正因子自调整无量化模糊控制器,利用输出强度系数实现两种控制的平滑过渡,克服了常规模糊-线性双模控制器的切换点选择困难。在误差较大时,模糊控制器起主要作用,以提高系统的动态特性;误差较小时,PID控制器起主要作用,使线性控制和模糊控制的输出实现了平滑过渡,使系统在速度、精度尤其抗干扰能力方面均有良好的效果。The conventional single-loop PID control method makes the platform system lack of desirable disturbance rejection. But the problem was solved by double-loop control method which introduces speed feedback into the system. From the analysis and comparison of several fuzzy control methods, the structures of speed-loop and position-loop linear controller were identical with those of the linear double-loop system by adopting fuzzy-linear double-mode control method to correct the system. The position-loop fuzzy controller was non-quantificational and its factor is self-tuning. In addition, the transition of the two controllers of the position-loop was smoothed by using the output intensity coefficients. This method avoids the selection of the switch point. When the error is bigger, the fuzzy controller works to improve the dynamic characteristic; when the error is smaller, the PID controller works and realizes the smooth transition of the output from linear control to fuzzy control. With this method, the platform system has good effect in response speed, precision and disturbance rejection.

关 键 词：平台稳定回路 双闭环控制 PID控制 模糊控制 

分 类 号：U666.1[交通运输工程—船舶及航道工程]