摘要
基于预测函数控制的诸多优点,希望能将其应用于复杂的非线性不稳定高阶系统,研究了该算法在倒立摆系统中的初步应用。在简要介绍了预测函数控制基本算法的基础上,通过仿真和实例说明了单纯PFC算法不能镇定相对简单的一级倒立摆系统,而采用单纯的PID算法往往不能获得期望的控制性能,故提出了PFC-PID串级控制。先用PID内环镇定倒立摆系统,外环再用PFC算法优化控制性能。最后通过仿真和实例验证了该串级算法具有良好的控制性能。
Based on many advantages of Predictive Functional Control(PFC),which is expected to be applied to complicated high order nonlinear systems,its basic application in the inverted pendulum system is researched.After briefly introducing the PFC,the simulation and illustration show that a single inverted pendulum system can t be stabilized only by single PFC.But if the single PID arithmetic is used,sometimes the expectation couldn t be satisfied.As a result,a PFCPID cascade control strategy is proposed.The inner...
出处
《控制工程》
CSCD
2006年第S1期43-45,56,共4页
Control Engineering of China
关键词
预测函数控制
串级控制
倒立摆
predictive functional control
cascade control
inverted pendulum