摘要
针对传统PID控制算法在稳定跟踪平台控制中的诸多问题,提出一种带有卡尔曼滤波器的基于前馈补偿和抗积分饱和PID(FKAPID)控制的控制方法。计算机仿真实验表明,控制方法使系统的单位阶跃响应的超调量减小到6%,调节时间缩短至1.4 s,跟踪误差的均方差值减小了1个数量级以上,动态响应性能、对周期性信号的跟踪性能和对干扰的抑制能力明显提高。
According to the disadvantages of the taditional PID control algorithm in stabilized tracking platform control, a new algorithm based on the Feed-forward compensation, Kalman filter, and Anti-wind- up PID （FKAPID） is proposed in this paper. The simulation result shows that,with this algorithm, the o- vershoot of step response is reduced to 6%, the settling time is shortened to 1.4s and the mean square de- viation of the tracking error is reduced by more than 1 order of magnitude. The performance of dynamic response, tracking of the periodic signal and suppression of interference are improved significantly.
出处
《航空计算技术》
2013年第4期47-51,共5页
Aeronautical Computing Technique
基金
国家自然科学基金项目资助(91016019
60904091
61104188)
江苏省高校优势学科建设工程项目
中央高校基本科研业务费专项基金资助(NP2012103&NP2011049)
关键词
PID
前馈补偿
抗积分饱和
卡尔曼滤波
稳定跟踪平台
PID
feed-forward compensation
anti -windup PID
kalman filter
stabilized tracking platform
