消摇摆稳定系统控制器的设计  

The Design of Controller for De-Waving Stabilizing System

作　　者：童忠志[1] 

机构地区：[1]南京理工大学 机械学院,江苏南京210094

出　　处：《兵工自动化》2001年第1期10-12,共3页Ordnance Industry Automation

摘　　要：为使消摇摆稳定系统具有良好的动静态性能和抗外部干扰变化的鲁棒性，采用智能化分段控制与模糊自调整PID参数控制设计系统控制器。其分段控制以误差角大小判断阈值εi为依据，大误差时（≥ε1）采用非线性控制（Bang-Bang控制）以提高系统快速性，误差降至一定程度（ε1～ε2）采用PD控制以保证系统平稳，系统稳定时（ε2～ε3）采用模糊自调整PID参数控制以减小稳态误差，小误差时（＜ε3）再辅以前馈控制以保证动态跟踪精度。并导出了有关各控制段的控制器模型，给出了模糊自调整PID参数控制器系统框图和模糊控制查询表。实验证明该设计是可行的。In order to obtain better dynamic and static capabilities and robustness of outside anti-interference, the controller is designed with intellectual sectionalized control and Fuzzy-self-adjusting PID control for de-waving stabilizing system. According to different angular errors, when error ≥ε1, non-linear control (Bang-Bang control) is adopted to speed the system. When decreased error to some certain degree (ε1～ε2)， PD control is used to ensure the system stabilization. During the system stabilized (ε2～ε3), Fuzzy-self-adjusting PID control is adopted to decrease static error. For error ＜ε3, front-feedback control is added to ensure the dynamic accuracy of position control. The model of controller is deduced for each control segment in this paper. The block diagram of Fuzzy-self-adjusting PID controller and inquiring table of fuzzy control is given out, and the feasibility of the design is validated by examples.

关 键 词：稳定系统 PID控制 模糊控制 消摇摆 设计 控制器 兵器系统 

分 类 号：TJ03[兵器科学与技术—兵器发射理论与技术] TP273[自动化与计算机技术—检测技术与自动化装置]