Adaptive Nonlinear PID Control and Rule-Based Compensation for Systems with Backlash  

基于规则补偿的滞环系统自适应非线性PID控制(英文)

作　　者：任雪梅[1] 李岩[1] 龚至豪[1] 

机构地区：[1]北京理工大学自动控制系,北京100081

出　　处：《Journal of Beijing Institute of Technology》2000年第2期195-200,共6页北京理工大学学报（英文版）

基　　金：NationalNaturalScienceFoundationofChina! ( 6980 4 0 0 1 )

摘　　要：The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule? based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule? based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrated the effectiveness of the proposed method.研究滞环参数未知时动态系统的控制问题 .为了消除滞环的影响作用 ,给出了滞环参数估计方法 ,在此基础上提出了基于规则滞环逆补偿器 .对自适应非线性PID控制和基于规则滞环逆补偿组成的混合控制方案进行研究 ,取得了满意的效果 .仿真结果验证了该方法的有效性 .

关 键 词：nonlinear systems adaptive nonlinear PID control BACKLASH 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]