一种针对时滞系统的改进智能轨迹导引控制算法  

An Improved Algorithm of Intelligent Track Guiding Control for Time-delay System

作　　者：王文标 王靖 汪思源 李延超 WANG Wen-biao;WANG Jing;WANG Si-yuan;LI Yan-chao(Ship Electrical Engineering College,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学船舶电气工程学院,大连116026

出　　处：《科学技术与工程》2020年第10期4009-4015,共7页Science Technology and Engineering

摘　　要：针对在控制大时滞系统时,智能轨迹导引控制(ITGC)算法在偏差选取上的不足,引起系统调节时间过长以及抗扰性不佳的问题,提出了一种改进智能轨迹导引控制(改进ITGC)算法。根据引入的参考模型和估计滞后,可得规划导引与无时滞参考模型间的偏差DA以及有时滞给定与实际被控对象间的偏差DB,以DA和DB的加权线性组合纠正系统的响应。分别运用MATLAB和一体化试验箱进行验证。结果表明改进算法在控制大时滞对象时兼具系统的响应速度和抗扰性能优势,且模型失配时,算法依然有效。改进ITGC算法为控制大时滞系统增加了解决途径。In a large time-delay system,the algorithm of the intelligent track guiding control(ITGC)has defects in the selection of deviation,which leads to a long regulation time and poor anti-interference,to which an improved(ITGC)algorithm was proposed.According to the reference model and estimated delay,the deviations between the planning guidance and the reference model without delay(termed DA)and between the given delay and the actual controlled object(termed DB)were obtained,and the response of the system could be corrected by the weighted linear combination of DA and DB.The applicability of the algorithm was validated by using MATLAB(a multi-paradigm numerical computing environment and proprietary programming language)and integrated test box.Results show that the improved algorithm was advantageous in the response speed and anti-interference performance,and the algorithm remained effective when the model was mismatched.The improved ITGC algorithm provides a solution for the control of large time-delay systems.

关 键 词：大时滞系统 智能轨迹导引控制 改进智能轨迹导引控制 偏差选取 仿真实物验证 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]