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论文:2014,Vol:32,Issue(2):309-314 |
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引用本文： |
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王鸿辉, 袁朝辉, 何长安. 基于自适应控制的球载吊篮姿态控制系统鲁棒性优化策略[J]. 西北工业大学 |
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Wang Honghui, Yuan Zhaohui, He Chang'an. Enhancing Robustness of Adaptive PID Controller of Stratospheric Balloon-Borne Gondola Attitude Control System[J]. Northwestern polytechnical university |
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| 基于自适应控制的球载吊篮姿态控制系统鲁棒性优化策略 |
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| 王鸿辉, 袁朝辉, 何长安 |
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| 西北工业大学, 陕西 西安 710072 |
| 摘要: |
| 平流层球载吊篮姿态控制系统属于一类典型的非匹配不确定非线性系统,通过自适应PID控制方法的应用,在一定程度上改善了控制系统控制器的控制性能。但由于其缺乏稳定性分析及参数确定困难,限制了其进一步的应用。为此,提出一种新型多滑模控制方法对该控制器进行鲁棒性优化设计,不仅降低了不确定参数下控制器的复杂性,且使其对非线性、参数时变或摄动、不确定性以及外干扰等具有较强鲁棒性,自适应PID控制器的控制精度也得到了有效提高。 |
| 关键词:
姿态控制系统
自适应PID控制
不确定非线性系统
多滑模
鲁棒性
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| Enhancing Robustness of Adaptive PID Controller of Stratospheric Balloon-Borne Gondola Attitude Control System |
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| Wang Honghui, Yuan Zhaohui, He Chang'an |
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| Department of Automatic Control, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| The attitude control system of a stratospheric balloon-borne gondola is a typical non-matching uncertain nonlinear system, whose performance can be enhanced to some extent by using an adaptive PID controller. But there is a lack of its stability analysis, which causes some difficulty in selecting its parameters and implementing its algorithm in case of multiple uncertain parameters. So we design a multi-sliding mode controller to help determine the parameters of the adaptive PID controller, reduce its complexity in case of multiple uncertainty parameters and enhance the robustness of nonlinearity, time-varying, vibration and outer disturbance. We use the error threshold value to ensure the robustness of the ideal approximation error of the neural network and avoid the increase of virtual and actual control of various orders, thus stabilizing the adaptive PID controller in its complex states. The computer simulation results, given in Figs.3 through 6, and their analysis show preliminarily that the adaptive PID controller we designed has a better control accuracy and robustness to nonlinearity, parameters'time-varying, uncertainty and disturbance than traditional adaptive PID controllers. |
| Key words:
adaptive control systems
attitude control
computer simulation
controllers
design
Lyapunov functions
nonlinear systems
robustness (control systems)
sliding mode control
stability
uncertainty analysis
adaptive PID controller
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| 收稿日期: 2013-05-23
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 王鸿辉(1978-),西北工业大学讲师,主要从事伺服控制理论及应用研究。
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参考文献: |
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