摘要
针对车载导航系统中的转位系统所存在的干扰非线性和不确定性,设计了双闭环控制系统.内环采用参数自调整模糊-PI复合控制器,利用模糊控制的仿人控制思维,改善了系统的动态性能;引入的PI调节器保证了系统的稳定精度,弥补了模糊控制的不足,系统的鲁棒性和稳态精度都有所提高;在进行控制器切换时,依据控制量的大小调整PI控制器的参数.外环使用PI控制,保证了位置控制精度.仿真数据表明,在外界干扰存在的情况下,通过双环控制,转位控制系统具有运行平稳、抗干扰能力强且定位精度高的特点.
To deal with the problems of non-linearity and uncertainty disturbance in the rotary position system of car parameter self-adaptive navigation, the double closed-loop control system was designed. The fuzzy-PI controller was used for inner loop control. By simulating human thought of fuzzy control, the dynamic performance of the system was improved. PI regulator was introduced to guarantee the steady precision and make up for the shortcomings of fuzzy control so that the system robustness and stability precision were improved. The parameters of PI controller could be regulated by control value when controller was switched. The positional control accuracy was guaranteed through PI controller which was designed in outer loop. Simulation results show that the designed control system has run smoothly with strong antijamming ability and high positioning accuracy by the double closed-loop control while there exists external disturbance.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2013年第3期285-289,共5页
Transactions of Beijing Institute of Technology
基金
国家自然科学基金资助项目(61153002)
国家部委预研项目(51309030303)
关键词
转位
参数自调整
模糊控制
PI控制
rotary position
parameter self-adaptive
fuzzy controller
PI controller
