大型光电经纬仪速度环PID参数模糊自整定研究  

Study of fuzzy PID controller parameter self-tuning for velocity circuit of large theodolite

作　　者：孙航[1,2] 韩红霞[1] 曹立华[1] 耿爱辉[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国科学院研究生院,北京100049

出　　处：《仪器仪表学报》2013年第10期2388-2394,共7页Chinese Journal of Scientific Instrument

摘　　要：为了使大型经纬仪在跟踪快速目标时具有较高的响应速度和较强的抗干扰能力,同时在跟踪低速目标时具有较好的平稳性和较高的精度。在传统伺服控制器双闭环的结构基础上,利用模糊控制理论将伺服控制的速度环调节器设计为模糊PID控制器,同时将位置环设计为传统的一阶调节器。讨论了速度环模糊PID控制器的结构和PID参数的整定方法,在设计中比例系数K P、微分系数K D用模糊方法进行自整定,而积分参数K I采用固定参数,并在MATLAB中对该模糊PID控制器进行了仿真研究,对比了模糊PID控制器与传统PID控制器的性能指标和抗干扰能力。实验结果表明:模糊PID控制器具有自整定参数的能力,并且跟踪性能远远优于传统PID控制器。在实际项目中对所设计的模糊PID控制器进行了应用,在对经纬仪进行最大速度20°/s最大加速度5°/s2的正弦引导时测得最大误差仅为0.6″。在对经纬仪进行速度为15″的等速引导时系统运行平稳,实际测得速度与引导速度的均方根误差仅为0.63″。To improve the response speed and anti-jamming ability of the large theodolite when tracking high speed target, and enhance the stability and precision when tracking low speed target, based on the dual close-loop structure of traditional servo controller, the fussy control theory is used to design the servo control speed loop adjuster as a fuss- y-PID controller;and the position loop is designed as a traditional first order adjuster. The structure of the speed loop fussy controller and the tuning method of the PID parameters are discussed. In the design, the proportion coefficient Kp and differential coefficient KD are self-tuned with fuzzy method;and the integral coefficient K~ is set as a fixed pa- rameter. The fuzzy PID controller was studied with simulation on the MATLAB platform. The performance indexes and the anti-jamming abilities of the fussy PID controller and the traditional PID controller were compared. The experi- ment results show that the fussy PID controller has the ability of parameter self-tuning, it can adjust the parameters automatically according to the target, and its tacking ability is much better than that of the traditional PID controller. The designed fuzzy PID controller was used in some large theodolite projects. Under the circumstance of the sine wave digital-guiding,the max error is only 0.6＂ when the max speed is 20~/s and the max acceleration is 5~/s2 ;under the circumstance of equal speed guiding with speed of 15＂/s, the target can be tracked stably, the measured RMS error between the actual velocity and the digital-guiding speed is only 0.63＂.

关 键 词：模糊PID 伺服控制 大型经纬仪 参数自整定 

分 类 号：TP274.5[自动化与计算机技术—检测技术与自动化装置]