| 两种非线性鲁棒PID控制器 |
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| 引用本文： | 张显库,郭晨,杨盐生. 两种非线性鲁棒PID控制器[J]. 黑龙江大学自然科学学报, 2005, 22(5): 605-609 |
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| 作者姓名： | 张显库 郭晨 杨盐生 |
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| 作者单位： | 大连海事大学,航海动态仿真与控制实验室,辽宁,大连,116026;大连海事大学,航海动态仿真与控制实验室,辽宁,大连,116026;大连海事大学,航海动态仿真与控制实验室,辽宁,大连,116026 |
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| 基金项目： | 国家自然科学基金资助项目(60474014)，国家博士点基金资助项目(20040151007)，交通部基础研究资助项目(200432922504) |
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| 摘 要： | 针对非线性船舶航向保持系统,给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒PID控制器,该非线性PID控制器由非线性函数项和鲁棒PID控制器组成。另外,还给出一种完全基于闭环增益成形算法的非线性鲁棒PID控制器,其包含了具有定时功能的开关元件,两种非线性PID控制器在提高系统鲁棒性能的基础上,简化了控制器设计,从仿真结果可以看出,航向保持效果良好。
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| 关 键 词： | 闭环增益成形 精确反馈线性化 非线性PID 鲁棒 航向保持 |
| 文章编号： | 1001-7011(2005)05-0605-05 |
| 修稿时间： | 2005-06-10 |
Two kinds of nonlinear robust PID controller |
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| ZHANG Xian-ku,GUO Chen,YANG Yan-sheng. Two kinds of nonlinear robust PID controller[J]. Journal of Natural Science of Heilongjiang University, 2005, 22(5): 605-609 |
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| Authors: | ZHANG Xian-ku GUO Chen YANG Yan-sheng |
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| Abstract: | For a nonlinear course keeping system for ships,a kind of nonlinear robust PID is presented,which is based on an exact feedback linearization and a closed-loop gain shaping algorithm.The nonlinear PID controller is constituted of a nonlinear items with a robust PID controller.Another nonlinear robust PID controller is wholly based on closed-loop gain shaping algorithm,which includes a nonlinear switching component with a timer.The algorithms improve the robustness of the system and simplify the design of controller,the simulation results show that the course-keeping performance is improved well. |
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| Keywords: | closed-loop gain shaping exact feedback linearization nonlinear PID robust course-keeping |
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