摘要
针对长管道、阀控非对称缸及负载扰动等非线性因素对高空作业工程机械调平系统动态性能的影响,提出了采用不必基于模型的单神经元自适应控制和干扰观测器相结合的控制策略。通过理论分析建立了带长管道的阀控非对称缸系统的非线性模型,分析了单神经元自适应和干扰观测器的结构及非线性控制器的设计方法,并采用Matlab\Simulink软件进行了仿真分析。结果表明,上述非线性控制器较常规PID控制器具有良好的动态特性,对长管道和负载扰动表现出更强的适应性和鲁棒性,而且对给定的控制信号具有良好的跟踪效果。
Because nonlinear parameters such as long-pipe,valve-controlled asymmetrical cylinder and load disturbance had impact on leveling system of aerial platform.The controlling tactics are consisted of single neuron adaptive PID control and disturbance observer.The nonlinear mathematical model of long-pipe valve-controlled asymmetrical cylinder system is established through theoretical analysis.The construction and algorithm of single neuron adaptive PID controller and disturbance observer are described.Simulation results proved that the nonlinear controller has better dynamic performance,better adaptability and higher robustness to the long-pipe and system load disturbance.Moreover, the nonlinear controller can well track the given control signal at any phase.
出处
《控制工程》
CSCD
北大核心
2009年第S1期94-96,100,共4页
Control Engineering of China
关键词
长管道
阀控非对称缸
单神经元自适应
干扰观测器
long-pipe
valve-controlled asymmetrical cylinder
single neuron adaptive control
disturbance observer
