分数阶PD控制器在时滞伺服系统中的研究  

Research of Fractional Order PD Controller in Time Delay Servo System

作　　者：赵远征[1] 单梁[1] 瞿元新[2] 李儒贵[1] 李攀攀[1] 戚志东[1] 

机构地区：[1]南京理工大学自动化学院,南京210094 [2]中国卫星海上测控部,江苏江阴214431

出　　处：《控制工程》2015年第3期387-392,共6页Control Engineering of China

基　　金：国家自然科学基金会(61203009;61374153);中国博士后科学基金(2012M511763);江苏省博士后科学基金(1101085C);飞行器海上测量与控制联合实验室开放基金(FOM2014OF05)

摘　　要：分数阶微积分理论的发展推动了分数阶微积分在各个领域的广泛应用,分数阶控制算法的研究也成为近几年的研究热点。目前分数阶控制理论的研究主要集中在理论分析,对于目前所研究的这类工程性较强的控制对象,成熟的研究成果较少。针对实际工程中含有时滞的伺服系统模型,将Flat phase法和系统稳定性裕度条件相结合,设计了分数阶PD控制器。此PD控制器结构简单,对参数变化稳定性好,控制精度高。为了对比仿真实验,文章还设计了整数阶PID控制器。仿真结果表明,分数阶控制器比传统整数阶PID控制器的控制精度更高,鲁棒性更好。Since the fractional calculus can be used in various areas, the fractional order control algorithm has been an attractive topic in recent years. However, the current research mainly focuses on the theoretical analysis and there are few achievements in the engineering application. Based on the flat phase method and the criterion of the steady-state stability margin, a fractional order PD controller is proposed for the actual project of time-delay servo system. This controller not only has a simple structure, but also has good stability to parameters variation and can obtain high control precision. A comparative integral order PID controller is also designed and the results demonstrate that the fractional order PID controller has better accuracy and robustness.

关 键 词：分数阶控制器 FLAT phase法 伺服系统 时滞系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]