| 引用本文: | 董小坤,曹剑中,刘辰,范新明,杨磊.非伪控制解决惯性稳定平台的非线性时变干扰[J].控制理论与应用,2014,31(9):1206~1212.[点击复制] |
| DONG Xiao-kun,CAO Jian-zhong,LIU Chen,FAN Xin-ming,YANG Lei.Rejection of time-varying disturbances in inertial platform stabilizing system via unfalsified control[J].Control Theory and Technology,2014,31(9):1206~1212.[点击复制] |
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| 非伪控制解决惯性稳定平台的非线性时变干扰 |
| Rejection of time-varying disturbances in inertial platform stabilizing system via unfalsified control |
| 摘要点击 2205 全文点击 1197 投稿时间：2013-10-21 修订日期：2014-04-25 |
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| DOI编号 10.7641/CTA.2014.31099 |
| 2014,31(9):1206-1212 |
| 中文关键词 非伪控制 自适应PID控制 ε–滞后算法 进化策略 惯性稳定平台 |
| 英文关键词 unfalsified control adaptive PID control hysteresis switching algorithm evolutionary method inertial platform stabilizing system |
| 基金项目 国家自然科学基金资助项目(61201376). |
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| 中文摘要 |
| 非伪控制是一种基于在线数据的驱动控制方式. 本文通过进化策略实现候选控制器的多样性操作, 结合 滞后算法切换控制器, 从而实现系统自适应的PID稳定控制. 在惯性稳定平台中, 由于非线性时变干扰的存在令被 控对象不能提供精确的控制模型, 今将非伪控制算法用于惯性稳定平台中, 能使惯性稳定平台准确地稳定框架, 其 方位轴稳定误差小于3.4 mrad, 俯仰轴稳定误差小于4.36 mrad. |
| 英文摘要 |
| The unfalsified control is a control method based on online data. This paper realizes the diversified operations of candidate controllers with the evolution strategy, and combines hysteresis switching algorithm with the switch controllers to achieve the adaptive PID controller. Because of the nonlinear time-varying disturbances in the inertial stabilizing system, we cannot obtain an accurate control model for the controlled object; however, by adopting the unfalsified control algorithm, we can stabilize the inertial stabilizing system with good results such as the azimuth errors less than 3.4 mrad and pitch errors less than 4.36 mard. |
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