非伪控制解决惯性稳定平台的非线性时变干扰  

Rejection of time-varying disturbances in inertial platform stabilizing system via unfalsified control

作　　者：董小坤[1,2] 曹剑中[1] 刘辰[1,2] 范新明[1,2] 杨磊[1] 

机构地区：[1]中国科学院西安光学精密机械研究所,西安陕西710119 [2]中国科学院大学,北京100039

出　　处：《控制理论与应用》2014年第9期1206-1212,共7页Control Theory & Applications

基　　金：国家自然科学基金资助项目(61201376)

摘　　要：非伪控制是一种基于在线数据的驱动控制方式.本文通过进化策略实现候选控制器的多样性操作,结合滞后算法切换控制器,从而实现系统自适应的PID稳定控制.在惯性稳定平台中,由于非线性时变干扰的存在令被控对象不能提供精确的控制模型,今将非伪控制算法用于惯性稳定平台中,能使惯性稳定平台准确地稳定框架,其方位轴稳定误差小于3.4mrad,俯仰轴稳定误差小于4.36mrad.The unfalsified control is a control method based on online data.This paper realizes the diversified operations of candidate controllers with the evolution strategy,and combines hysteresis switching algorithm with the switch controllers to achieve the adaptive PID controller.Because of the nonlinear time-varying disturbances in the inertial stabilizing system,we cannot obtain an accurate control model for the controlled object; however,by adopting the unfalsified control algorithm,we can stabilize the inertial stabilizing system with good results such as the azimuth errors less than 3.4 mrad and pitch errors less than 4.36 mrad.

关 键 词：非伪控制 自适应PID控制 (ε)-滞后算法 进化策略 惯性稳定平台 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]