【作者】 霍炬； 仲小清； 杨明；

【Author】 HUO Ju, ZHONG Xiao-qing, YANG Ming (Harbin Institute of Technology, Harbin 150001, China)

【机构】 哈尔滨工业大学；

【摘要】 针对控制器饱和等非线性因素严重影响武器模拟转台控制稳定性和精确性的问题,设计了一种基于专家知识的智能控制器,建立了控制规则。采用传统定参数PID控制,保证系统对平缓位置信号的精确跟踪;利用专家智能控制实现大阶跃波动下的快速、平稳过渡。仿真和实验结果表明,控制器调节参数少,收敛速度快,且具有较好的鲁棒性,满足了模拟转台过渡快速、稳定,跟踪精确的研制要求。更多还原

【Abstract】 In view of the influence of nonlinear factors such as controller output saturation on the stabilization and precision of a weapon simulator, an intelligent controller based on expert knowledge was designed and the controlling rule was established, too. Fixed PID controller was applied to reduce the tracking error, while intelligent controller was adopted to make the large step response fast and smooth. The controller has simple structure, few regulator parameters and good robustness against uncertainty. Simulation and experiment results show that the controller can realize the step transition rapidly, smoothly, and improve the tracking performance.更多还原