【摘要】 根据PTZ摄像机本身测量和控制纯滞后性、控制系统不连续性、模型未知等特点,提出一种新的带前馈补偿的PID-DMC控制算法。采用常规PID算法控制时,由于PTZ摄像机的实际控制量的不连续性,实际闭环系统运行时控制量抖动幅度过大,严重影响系统稳定性,甚至损坏设备。为此在常规PID控制基础之上加入前馈补偿,减小积分作用带来的超调量增大的问题,同时引入DMC控制,有效减小系统的波动,使得系统的随动跟踪更为平稳和有效。更多还原

【Abstract】 A new PID-DMC control algorithm with feedforward compensation is proposed according to the characteristics of PTZ camera itself,such as pure delay in measurement and control discontinuity in control system and unknown model.On the basis of conventional PID control,feed forward compensation is added to reduce the problem of overshoot caused by integral action.Meanwhile,DMC control is introduced to reduce the fluctuation of the system effectively,which makes the servo tracking more stable and effective.更多还原