摘要
提出一种滑行灯随动转向系统,针对其控制过程不连续,存在非线性、时滞性和其它不确定因素,在建立起灯具转角模型与合并负载后的直流伺服电机模型的基础上,采用模糊PID控制技术,针对其论域固定、瞬态响应不稳定的缺点提出了一种基于计算速度误差的摩擦模型前馈补偿算法。通过MATLB/Simulink仿真,比较了常规PID控制、模糊PID控制、基于计算速度误差摩擦模型前馈补偿和前馈补偿模糊PID控制在阶跃输入和正弦输入下的动态响应,仿真结果表明,上述系统在基于速度误差摩擦模型前馈补偿模糊PID控制下具有很好的鲁棒性和动态跟踪能力,能够实现零超调、跟随误差在±0.05,验证了此改进算法在类似系统中的可行性。
A sliding light servo steering system is proposed in this paper.In view of its discontinuous control process,nonlinearities,time delay and other uncertain factors,based on the establishment of the lamp rotation model and the combined DC servo motor model,the fuzzy PID control technology was adopted,and a friction model feed-forward compensation algorithm based on calculated speed error is proposed for its shortcomings of fixed domain and unstable transient response.Through MATLB/Simulink simulation,the dynamic responses of conventional PID control,fuzzy PID control,feedforward compensation based on calculated speed error friction model and feedforward compensation fuzzy PID control under step input and sinusoidal input were compared.The simulation results show that the system has good robustness and dynamic tracking ability under the feedforward compensation fuzzy PID control based on the speed error friction model,and can achieve zero overshoot and the following error is±0.05.The feasibility of this improved algorithm in similar systems is verified.
作者
彭斌
王文奎
马军祥
冶振
PENG Bin;WANG Wen-kui;MA Jun-xiang;YE Zhen(Lanzhou University of Technology,Lanzhou Gansu 730050 China;Aviation Industry Lanzhou Wanli Aviation Electromechanical Co.,Ltd.,Lanzhou Gansu 620100,China)
出处
《计算机仿真》
北大核心
2022年第3期72-78,共7页
Computer Simulation
基金
国家自然科学基金资助项目(51275226,51675254)。
关键词
随动转向
摩擦模型
前馈补偿
仿真
Follow-up steering
Friction model
Feedforward compensation
Simulation
