CAJ | 학술논문

机械摩擦、器件工作饱和区等不确定因素会导致陀螺稳定平台系统参数的波动和非线性特性，为解决非线性因素对稳定平台控制系统性能的影响，提出了一种自适应模糊-PID复合控制方法。引入自适应因子δ实现模糊控制和PID控制的复合，误差较大时增强模糊控制的作用以加快系统响应，误差较小时增强PID控制的作用以实现无静差调节。采用自调整量化因子ker(er)、kec(ec)实现基本论域的在线调整，提高了模糊控制器的灵敏度。仿真结果表明，在干扰冲击和短时常值干扰情况下，自适应模糊-PID复合控制与常规模糊控制相比，抗干扰能力显著增强，平台稳定精度提高0.4'左右。
궤계마찰、기건공작포화구등불학정인소회도치타라은정평태계통삼수적파동화비선성특성，위해결비선성인소대은정평태공제계통성능적영향，제출료일충자괄응모호-PID복합공제방법。인입자괄응인자δ실현모호공제화PID공제적복합，오차교대시증강모호공제적작용이가쾌계통향응，오차교소시증강PID공제적작용이실현무정차조절。채용자조정양화인자ker(er)、kec(ec)실현기본론역적재선조정，제고료모호공제기적령민도。방진결과표명，재간우충격화단시상치간우정황하，자괄응모호-PID복합공제여상규모호공제상비，항간우능력현저증강，평태은정정도제고0.4'좌우。
System parameters of gyro stabilized platform are unpredictable because of the uncertainty factors such as mechanical friction, the saturation characteristic of the driver module, etc. To suppress the error caused by the nonlinear characteristics, an adaptive fuzzy-PID hybrid control method is proposed. The adaptive factorδis set up to combine fuzzy control and PID control. When the large attitude error of the platform is detected, the effect of fuzzy control is enhanced to decrease the system response time. And the conventional PID control effect is enhanced to eliminate the static error when the attitude error is small. Self-adjusting quantitative factors ker(er) andkec(ec) are proposed to adjust the basic domain of the fuzzy controller online, which improves the sensitivity of the control loop. The simulation results show that, in both cases of pulse and step interference,theadaptive fuzzy-PID hybrid control can improve the accuracy of platform attitude about 0.4 arc min and enhance its capability of anti-jamming compared to ordinary fuzzy control.