时滞光电跟踪系统鲁棒内模PID控制器设计(英文)  

Robust IMC-PID Controller Design for an Opto-electronic Tracking System with Time-delay

作　　者：赵志诚[1,2] 刘志远[1] 张井岗[2] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001 [2]太原科技大学自动化系,太原030024

出　　处：《光电工程》2010年第1期30-36,共7页Opto-Electronic Engineering

基　　金：山西省自然科学基金资助项目(2007011049)

摘　　要：针对时滞光电跟踪提出了一种内模PID(IMC-PID)控制器设计与参数整定的解析方法。首先建立了系统的一阶时滞积分(FODI)模型,并用二阶加时滞(SOPDT)模型进行逼近,然后利用一阶Taylor表达式代替系统模型中的时滞项,导出了控制器参数的整定规则。特别是为了保证系统的鲁棒性,可以根据最大灵敏度解析计算内模PID控制器的可调参数λn。仿真结果表明,与常规方法相比,所提方法不仅提供了较好的设定值跟踪和扰动抑制特性,而且对于系统参数摄动具有更好的鲁棒性。另外,实验结果也证实了该方法能够提高系统跟踪性能和跟踪精度。An analytical design and parameters tuning approach of Internal Model Control-PID （IMC-PID） controller for an opto-electronic tracking system with time-delay is proposed in this paper. Firstly,a first-order delayed integrating （FODI） model for the system is built,and the model is approximated by a Second Order Plus Delay Time （SOPDT） mode. Then,the time-delay term in the model is replaced by the simple first-order Taylor expansion. So,the tuning rules of the controller parameters are founded. Especially,the single adjustable parameter λn of the IMC-PID controller can be calculated by choosing an appropriate maximum sensitivity to guarantee robustness of the system. The simulation results show that the proposed method could provide a better dynamic performance of both the command tracking and disturbance rejection,and have better robustness against parameters perturbation than conventional method. In addition,the experimental result demonstrates that the method could bring better tracking performance and higher accuracy than the PID control.

关 键 词：内模PID 光电跟踪系统 时滞系统 

分 类 号：V556[航空宇航科学与技术—人机与环境工程]