基于粒子群模糊PID三环控制的全向转台控制系统  

Omnidirectional Turntable Control System Based on Particle Swarm Optimization Fuzzy PID Three Loop Control

作　　者：黄瀚韬 李跃忠[1] 陈斌 董文剑 徐群 马超群 Huang Hantao;Li Yuezhong;Chen Bin;Dong Wenjian;Xu Qun;Ma Chaoqun(School of Mechanical and Electrical Engineering,East China University of Technology,Nanchang 330013,China;Shanghai Aerospace Control Technology Research Institute,Shanghai 201109,China)

机构地区：[1]东华理工大学机械与电子工程学院,南昌330013 [2]上海航天控制技术研究所,上海201109

出　　处：《机电工程技术》2023年第5期46-52,共7页Mechanical & Electrical Engineering Technology

基　　金：江西省科技厅重点研发计划(20212BBE53033)。

摘　　要：根据航空航天模拟实验系统对转台的应用需求研制了一套大功率全向转台控制系统。为满足其大惯量高动态特性的需求,提出了基于三环控制的粒子群最优参数自整定模糊PID控制系统。MATLAB仿真结果表明:该控制策略相较传统PID控制超调量更小、调节时间更短、系统带宽更大;同时该系统在抑制轴系耦合干扰和负载干扰的能力比传统PID控制更强。工程实践表明,所提转台控制系统可以显著提升转台的控制精度,极大提高了转台控制系统的动态性能,满足“双十”指标,同时通过粒子群迭代的方式计算系统最优参数可以大大减少人工调参的时间,提高了产品研发效率。According to the aerospace simulation experiment system requirements for turntable,a high-power omnidirectional turntable control system was developed.In order to meet the demand of large inertia and high dynamic characteristics,a fuzzy PID control system for particle swarm optimization based on three loop control was proposed.Simulation on MATLAB shows that compared with the traditional PID control strategy,the overshoot is smaller,the adjustment time is shorter and the system bandwidth is larger.At the same time,the ability of the system to suppress shafting coupling interference and load interference is stronger than the traditional PID control.Practical implementation shows that the proposed turntable control system can significantly increase the control accuracy of turntable,greatly improve the dynamic performance of the turntable control system,satisfy the"double tenth"criteria,at the same time by means of particle swarm iteration calculation system,the optimal parameters can greatly reduce the adjusting time,improve the efficiency of product development.

关 键 词：全向转台 粒子群 模糊PID 三环控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]