摘要
提出一种新型的非线性ＰＩＤ控制算法，通过调整增益、输出反馈、非线性前馈和死区修正算法，克服系统中大间隙、弹性、饱和、库仑摩擦、死区、滞后等固有本质非线性因素的影响，提高了系统的品质。实验表明，由该算法构成的控制系统具有良好的动态响应、高的控制精度和较强的鲁棒性，可广泛应用于地炮、火箭炮等要求高精度快速定位的系统中。
A kind of new nonlinear PID controller is proposed.By using variable gain,output feedback,nonlinear forword and dead corrected algorithm,the effect of inherent essential nonlinear factors in system,such as large backlash,elasticity,saturation,Coulomb friction,dead and delay,and so on are overcome.The quality of system performance is improved.Experiments show that control systems formed by the algorithm have better dynamic response,accuracy and robustness.It may be extensively applied to systems that require better accuracy and fast positioning like land gun and rocket gun
出处
《太原理工大学学报》
CAS
1999年第3期240-242,249,共4页
Journal of Taiyuan University of Technology
基金
国防工业重点型号预研项目
山西省自然科学基金
关键词
PID控制
控制精度
非线性控制
鲁棒性
nonlinear PID control
backlash
Coulomb friction
servo mechanism
