视轴稳定系统的模糊PID控制器设计
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摘要
为了实现无人机视轴稳定系统的准确测量与跟踪,设计了经典PID和模糊控制为基础的视轴稳定控制器。在实际工程中PID参数整定过程存在大量不确定性,为了实现PID参数的在线整定,将模糊控制算法与经典PID控制相结合,构造了参数自整定模糊PID控制器,实现了对PID控制器的修正。在MATLAB中的Fuzzy Toolbox和Simulink中,将PID和参数自整定模糊PID进行对比,参数自整定模糊PID控制器在无扰动和10 Hz的正弦扰动的阶跃响应曲线表明,模糊PID相对于模糊控制和PID控制有更短的响应时间和更小的隔离度;在输入为1～10 Hz的系统正弦响应曲线,模糊PID误差最小,控制效果最好。由此可得参数自整定模糊PID在视轴稳定系统中有良好的鲁棒性和控制性能。
In order to realize the accurate measurement and tracking of UAV LOS stabilization system, a LOS stabilization controller based on classical PID and fuzzy control is designed. There are a lot of uncertainties in the process of PID parameter tuning in practical engineering. In order to realize the on-line tuning of PID parameters, this paper combines fuzzy control algorithm with classical PID control, and constructs a parameter self-tuning fuzzy PID controller, which realizes the correction of PID controller. In MATLAB Fuzzy Toolbox and Simulink, comparing PID with parameter self-tuning fuzzy PID, the step response curves of parameter self-tuning fuzzy PID controller under no disturbance and 10 Hz sinusoidal disturbance show that fuzzy PID has shorter response time and smaller isolation degree than fuzzy control and PID control, and the fuzzy PID error occurs in the sinusoidal response curve of the system with input from 1～10 Hz. The difference is the smallest and the control effect is the best. Thus, the self tuning PID fuzzy controller has good robustness and control performance in LOS stabilization.
In order to realize the accurate measurement and tracking of UAV LOS stabilization system, a LOS stabilization controller based on classical PID and fuzzy control is designed. There are a lot of uncertainties in the process of PID parameter tuning in practical engineering. In order to realize the on-line tuning of PID parameters, this paper combines fuzzy control algorithm with classical PID control, and constructs a parameter self-tuning fuzzy PID controller, which realizes the correction of PID controller. In MATLAB Fuzzy Toolbox and Simulink, comparing PID with parameter self-tuning fuzzy PID, the step response curves of parameter self-tuning fuzzy PID controller under no disturbance and 10 Hz sinusoidal disturbance show that fuzzy PID has shorter response time and smaller isolation degree than fuzzy control and PID control, and the fuzzy PID error occurs in the sinusoidal response curve of the system with input from 1～10 Hz. The difference is the smallest and the control effect is the best. Thus, the self tuning PID fuzzy controller has good robustness and control performance in LOS stabilization.
引文
[1] 姬伟.陀螺稳定光电跟踪平台伺服控制系统研究[D]. 南京:东南大学,2006.
[2] BUKLEY J W, CRAMBLITT R M. Comparison of image processing algorithms for tracking illuminated targets[C]. SPIE Conference onAcquisition,Tracking, and Pointing XIII, 1999:234-243.
[3] 张秉华,张守辉.光电成像跟踪系统[M].成都: 电子科技大学出版社, 2003.
[4] 赖文娟. 陀螺稳定光电平台伺服控制系统设计与实现[D]. 成都:电子科技大学,2015.
[5] 孙增圻,邓志东,张再兴,等.智能控制理论与技术[M].第2版. 北京:清华大学出版社, 2011.
[6] 姬伟,李奇.自适应模糊PID控制器在跟踪器瞄准线稳定系统中的应用[J].控制理论与应用,2008,25(2):278-282.
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[8] 杨蒲,李奇.陀螺稳定平台自适应分层滑模速度控制[J].兵工学报,2008,29(7):864-869.
[9] Li H X, CHEN C L P. Relationship between fuzzy controller and PID controller[C].Proceeding of 1999 IEEE/RAJ International Conference on Intelligent Robot and System,1999.
[10] MUDI R K, PAL N R. A robust self-tuning scheme for PI- and PD-type fuzzy controllers[J]. IEEE Transactions on Fuzzy Systems, 1999, 7(1):2-16.
[11] YING H. Analytical relationship between the fuzzy PID controllers and the linear PID controller[R]. The University of Alabama at Bermingham,1987.
[12] 孙航,韩红霞,曹丽华,等.大型光电经纬仪速度环PID参数模糊自整定研究[J]. 仪器仪表学报,2013,34(10): 2388-2394.
[13] 谢宏,杨鹏,陈海滨,等.遗传优化模糊PID融合算法的5自由度机械手控制[J]. 电子测量与仪器学报,2015,29(1):21-30.
[14] 贾森,王新华,龚华军,等. 基于模糊PID的直升机增稳控制系统设计与实现[J]. 电子测量技术,2015,38(11):70-73.
[15] 黄永梅,傅承毓.模糊控制对精密实时跟踪控制系统性能的改善[J].光电工程,1999,26(1):16-22.
[2] BUKLEY J W, CRAMBLITT R M. Comparison of image processing algorithms for tracking illuminated targets[C]. SPIE Conference onAcquisition,Tracking, and Pointing XIII, 1999:234-243.
[3] 张秉华,张守辉.光电成像跟踪系统[M].成都: 电子科技大学出版社, 2003.
[4] 赖文娟. 陀螺稳定光电平台伺服控制系统设计与实现[D]. 成都:电子科技大学,2015.
[5] 孙增圻,邓志东,张再兴,等.智能控制理论与技术[M].第2版. 北京:清华大学出版社, 2011.
[6] 姬伟,李奇.自适应模糊PID控制器在跟踪器瞄准线稳定系统中的应用[J].控制理论与应用,2008,25(2):278-282.
[7] TAN K K, LEE T H, KHOH C J. PID-Augmented adaptive control of a gyro mirror los system[J]. Asian Journal of Control,2002,4(2):240-245.
[8] 杨蒲,李奇.陀螺稳定平台自适应分层滑模速度控制[J].兵工学报,2008,29(7):864-869.
[9] Li H X, CHEN C L P. Relationship between fuzzy controller and PID controller[C].Proceeding of 1999 IEEE/RAJ International Conference on Intelligent Robot and System,1999.
[10] MUDI R K, PAL N R. A robust self-tuning scheme for PI- and PD-type fuzzy controllers[J]. IEEE Transactions on Fuzzy Systems, 1999, 7(1):2-16.
[11] YING H. Analytical relationship between the fuzzy PID controllers and the linear PID controller[R]. The University of Alabama at Bermingham,1987.
[12] 孙航,韩红霞,曹丽华,等.大型光电经纬仪速度环PID参数模糊自整定研究[J]. 仪器仪表学报,2013,34(10): 2388-2394.
[13] 谢宏,杨鹏,陈海滨,等.遗传优化模糊PID融合算法的5自由度机械手控制[J]. 电子测量与仪器学报,2015,29(1):21-30.
[14] 贾森,王新华,龚华军,等. 基于模糊PID的直升机增稳控制系统设计与实现[J]. 电子测量技术,2015,38(11):70-73.
[15] 黄永梅,傅承毓.模糊控制对精密实时跟踪控制系统性能的改善[J].光电工程,1999,26(1):16-22.