基于干扰观测器的Fuzzy-PID控制及应用研究

针对大射电望远镜(LT)悬索粗调系统为一变结构、非线性、慢时变、大滞后、强耦合、多输入多输出柔性结构系统的特点,提出了一种Fuzzy-PID控制和干扰观测器相结合的控制算法来实现馈源轨迹跟踪策略。这种方法通过构造干扰观测器来预测该柔性结构系统的各种干扰,并根据预测到的干扰信息进行补偿以抑制干扰对系统的影响,同时引入Fuzzy控制算法来自适应整定PID控制器的参数实现具有最佳组合的PID控制。最后,对LT悬索-馈源舱控制系统进行了数值仿真,结果表明该控制算法可以较好地满足馈源系统轨迹跟踪精度要求,同时系统具有较强的适应性和鲁棒性。

Fuzzy-PID control based on disturbance observer and its application

Considering the characteristics of variable structure,nonlinearity,slow timevariance,large delay,strong coupling,MIMO and flexible feed system of large spherical radio telescope(LT),a novel control method combining the Fuzzy-PID controller with the disturbance observer is utilized to realize the trajectory tracking of the feed.That is,through estimation of a variety of disturbance by using disturbance observer,the disturbance acting on the flexible structural system can be compensated,and then the effect of disturbance is suppressed.Based on a practical project,an algorithm of fuzzy self-tuning PID control is introduced to approximate optimal control.The simulation results show that the tracking accuracy is much better and the control system has strong adaptability and robustness.