摘要
针对现有固定鸭舵制动控制算法不能及时准确制动的问题,提出了位置-速度双环PID制动控制算法。该算法包括位置和速度双环,位置环控制器根据目标滚转角和角位置反馈得到参考角速度,速度环控制器根据参考角速度与角速度反馈输出PWM波占空比值。仿真结果表明,该算法能够满足制动控制的技术指标要求,且在引入各项误差的情况下仍能保持稳定,具备一定的抗干扰能力,符合固定鸭舵制动控制的需求。
In order to solve the problem that the existing fixed canard braking control algorithm cannot meet the need of celerity and accuracy, a position-speed double-loop PID braking control algorithm was proposed in this paper. The algorithm consists of a position loop which output a reference speed depending on the target angle and feedback angle and a speed loop which output duty cycle according to the reference speed and the feedback speed. The simulation results showed that the control algorithm satisfied all technical index and had capacity of resisting disturbance, which made the algorithm stable in different errors condition
作者
黄伟
高敏
宋卫东
王毅
HUANG Wei GAO Min SONG Weidong WANG Yi(Ordnance Engineering College of PLA, Shijiazhuang 050003, Chin)
出处
《探测与控制学报》
CSCD
北大核心
2017年第2期54-58,共5页
Journal of Detection & Control
基金
武器装备预研基金项目资助(9140A05040114JB34015)
关键词
固定鸭舵
制动控制
双环PID
力矩计算
fixed canard
braking control
double-loop PID
torque calculation
