摘要
板球系统是一个典型的多变量、不确定、强耦合的非线性系统,一直被国内外许多学者作为研究非线性控制系统的实验平台。通过动力学分析得到板球系统的数学模型和相应的简化模型,针对系统响应速度慢的问题,在原RBF-PID控制PID参数调整采用梯度下降法的基础上,引入加速率的概念加快系统响应速度。实验结果表明,该控制算法可使控制误差缩小在2mm以内,控制时间也减少了2.8s,且具有较好的鲁棒性。
Ball and plate system is a typical multivariable, uncertain and strongly coupled nonlinear system. It has been used by many scholars at home and abroad to study the experimental platform of nonlinear control system. In this paper, the mathematical model of the ball and plate system and the corresponding simplified model are obtained by the kinetic analysis. In the case of system slow response, the concept of acceleration is introduced on the basis of the gradient descent method in the original RBF- PID control PID parameter to speed up the system＇s response speed. The experimental results show that the control algorithm can reduce the control error within 2mm, the control time is reduced by 2.8s and has good robustness.
出处
《软件导刊》
2018年第1期169-171,183,共4页
Software Guide
基金
国家自然科学基金项目(61163051)
云南省教育厅科学研究基金资助项目(2015Y071)
关键词
板球系统
RBF神经网络
PID
加速率
位置控制
ball and plate system
RBF neural network
PID
acceleration rate
position control
