基于CMAC和PID复合控制的电动伺服加载算法研究  

Research on Electric Loading Simulator Based on CMAC and PID Compound Control

作　　者：钱修生 李军[1] 雷鹏飞[1] 

机构地区：[1]南京理工大学自动化学院,南京210094

出　　处：《计算机测量与控制》2015年第11期3674-3676,3686,共4页Computer Measurement &Control

摘　　要：多余力矩会严重影响加载系统的控制性能和加载精度,如何克服多余力矩成为了设计加载系统的关键问题之一;由于电动伺服加载系统通常会具有非线性以及参数变化等因素,传统的基于结构不变性原理的方法,在消除多余力矩时表现欠佳;建立了电动伺服加载系统的数学模型,分析了多余力矩的产生原理,设计了一种基于CMAC和PID的复合控制器;仿真结果表明,所设计的复合控制器相对于传统的复合控制器,性能得到了大幅提升,不仅有效地抑制了系统的多余力矩,改善了加载系统的动态性能,而且增强了抑制扰动的能力,提高了跟踪精度。Surplus torque can seriously affect the control performance and loading precision of loading simulator,thus how to eliminate surplus torque becomes one of the key issues of designing loading system.As the electric loading simulator usually has nonlinearity and parameters varying,the performance of traditional approach based on structure invariance principle is not good at eliminating surplus torque.In this paper,the mathematical model of electric loading simulator is established,the causes of surplus torque are analysed,and a compound controller based on CMAC and PID is designed.The results of simulation prove that the compound controller can not only effectively suppress the surplus torque,improve the dynamic performance of loading simulator,but also enhance the ability of suppress the disturbance,increase the tracking precision.

关 键 词：电动加载系统 CMAC神经网络 多余力矩 复合控制 

分 类 号：V416[航空宇航科学与技术—航空宇航推进理论与工程]