基于模糊自适应的连续整定PID舵机控制器  

Electromechanical Actuator Continuous Setting PID Controller Based on Fuzzy Adaptive Control

作　　者：张展华 桂延宁 周彬 王发林 ZHANG Zhanhua;GUI Yanning;ZHOU Bin;WANG Falin(Science and Technology on Electromechanical Dynamic Control Laboratory,Xi'an 710065,China)

机构地区：[1]机电动态控制重点实验室,陕西西安710065

出　　处：《探测与控制学报》2018年第4期73-79,共7页Journal of Detection & Control

摘　　要：针对现有的二维弹道修正弹电动舵机系统响应速度慢、适应能力差等缺点,提出了基于模糊自适应的连续整定PID舵机控制器。该控制器在模糊自适应控制的基础上,通过对模糊控制曲面的3次曲面拟合得到连续的控制函数,并以此控制函数连续的调解整定PID参数,输出对应连续变化的控制信号,调节舵机的转角进而控制弹道偏向。通过Matlab仿真证明,基于模糊自适应的连续整定PID舵机控制器与现有的模糊自适应PID及经典PID舵机控制器相比,具有更好的动态响应和适应能力,且其计算量相对于连续论域的模糊自适应PID控制器来讲更少,更适合在高实时性要求的二维弹道修正弹上应用。Aiming at the problem that the electromechanical actuators using traditional PID controller on trajectory correction projectile is often accompanied with low response time and bad self-adaptation,a continuous setting PID controller based on fuzzy adaptive control was presented.This controller used cubic surface to fit the fuzzy control surface of the fuzzy adaptive control and took the function of the cubic surface as control function to continuously set PID parameters,then put the continuous control signal to steer the electromechanical actuator,finally changed the direction of the trajectory correction projectile.The Matlab simulation result showed the continuous setting PID controller based on fuzzy adaptive control could visibly improve the dynamic response and enhance the adaptability of the system compared with the PID controller and fuzzy adaptive PID controller.Besides,the computation complexity of continuous setting PID controller based on fuzzy adaptive control was lower than fuzzy adaptive PID controller and it's more likely to be used on the trajectory correction projectile which required high real-time task.

关 键 词：弹道修正弹 电动舵机控制器 模糊自适应 三次曲面拟合 连续整定PID 

分 类 号：TJ410.2[兵器科学与技术—火炮、自动武器与弹药工程]