摘要
针对火箭炮位置控制中存在的转动惯量和负载力矩变化大、冲击力矩强等特点,提出了一种反演单神经元比例-积分-微分(PID)复合控制方法。单神经元PID控制可对传统PID控制器的比例、积分、微分系数进行在线调整,实现了系统的自适应控制。反演算法可使较大的系统误差快速收敛到设定值以内,提高了系统的自适应能力。仿真及实验结果表明,该文复合控制方法具有更好的稳定性和动态跟踪精度。
In view of wide variations of inertia moment and loads and large disturbed moment in a rocket launcher position servo system,backstepping single neuron proportion-intergration-differentiation（PID）compound control is presented.The online parameter adjustments of the proportion,integral and differential of the conventional PID controller are realized by the single neuron PID,achieving the adaptive control of the system.The backstepping algorithm can guarantee the big system error converges to set value quickly and improves the adaptive ability.Simulation and experimental results show that the compound control strategy has better stabilization and dynamical tracking accuracy.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2011年第5期693-696,701,共5页
Journal of Nanjing University of Science and Technology
关键词
反演
单神经元
比例-积分-微分
参数摄动
永磁同步电动机
backstepping
single neuron
proportion-intergration-differentiation
parameters perturba-tion
permanent magnet synchronous motor
