一种基于自适应灰色预测控制的复合控制方法

摘要
图/表
参考文献(19)
相关文章 (3)

全文: PDF (3164 KB) HTML (1 KB)
输出: BibTeX | EndNote (RIS)

摘要通过对稳定平台位置跟踪回路的时滞特性分析，提出了一种基于自适应灰色预测控制的复合控制方法(CAGPC)，从而提高稳定平台伺服系统的响应和干扰的抑制。首先针对常规固定步长灰色预测和预测模型存在预测误差的弊端，提出了一种同时调节预测步长和综合误差权值的自适应调节模块，依据控制系统实际误差和预测误差，同时调节灰色预测步长和预测误差的权值，来提高预测模型的适应性与系统的控制精度；其次针对外界干扰引入前馈补偿控制器对扰动进行抑制来改善稳定平台伺服系统的干扰抑制；最后通过数值仿真和稳定平台实验验证表明，基于自适应灰色预测控制的复合控制方法提高了稳定平台伺服系统的响应和干扰抑制能力。

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	孟红波
	王昌明
	张爱军
	包建东

关键词 ：灰色预测控制, 自适应调节模块, 复合控制, 稳定平台

Abstract：Through analysis of the time-delay characteristics of stabilized platform position tracking loop, a compound control method based on adaptive grey prediction control (CAGPC) is proposed to improve the system response and disturbance suppression performance of stabilized platform servo system. Firstly, aiming at the disadvantages of conventional fixed step size of grey prediction and the prediction error forecast model has, an adaptive adjustment module adjusting the prediction step and comprehensive error weight at the same time is proposed, according to the actual control system error and the prediction error, the grey prediction step and the prediction error weights are regulated while to improve the control precision and the adaptability of the system prediction model; Secondly, the feedforward compensation controller which is to improve disturbance suppression performance of stabilized platform servo system and aiming at the external disturbances is introduced. At last, Numerical simulation results and the stable platform experimental verification illustrate that the compound control method based on adaptive grey prediction control can improve the stable platform servo system response and the ability of suppress external disturbances.

Key words： grey prediction control adaptive adjustment module compound control stabilization platform

收稿日期: 2015-03-16 出版日期: 2016-05-25

引用本文:

孟红波，王昌明，张爱军，包建东. 一种基于自适应灰色预测控制的复合控制方法[J]. 振动与冲击, 2016, 35(11): 123-129.
MENG Hong-bo， WANG Chang-ming， ZHANG Ai-jun，BAO Jiandong. A Compound Control Method Based on Adaptive Grey Prediction Control. JOURNAL OF VIBRATION AND SHOCK, 2016, 35(11): 123-129.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2016/V35/I11/123

[1] 陆建山,王昌明,何云峰,胡伟伟.改进型干扰观测器在稳定平台伺服系统中的应用[J]. 振动与冲击，2013，32(8)：96-99.
Lu Jian-shan,Wang Chang-ming,He yun-feng，Hu Weiwei. Application of Improved Disturbance Observer in Stabilized Platform Servo System [J]. Journal of vibration and shock, 2013，32(8)：96~99.
[2] 李英,葛文奇,王绍彬,徐正平等.稳定平台的自适应逆控制[J].光学精密工程,2009,2(15):2744-2749.
Li Ying, Ge Wen-qi, Wang Shao-bin, Xu Zheng-ping,et al. Adaptive Inverse Control Of Stable Platform [J]. Optics and Precision Engineering, 2009, 2(15): 2744-2749.
[3] 杨蒲,李奇.陀螺稳定平台自适应分层滑模速度控制[J].兵工学报,2008,7（29）:864-869.
Yang Pu, Li Qi. Adaptive Hierarchical Sliding Mode Speed Control Of Gyro Stabilized Platform[J], Acta Armamentarii, 2008,7（29:864-869.
[4] 李景森,奚碚华,付中泽,宋超.模糊-线性双模控制在平台稳定回路中的应用[J].中国惯性技术学报, 2008,4(16):390-395.
Li Jing-sen，Xi Bei-hua，Fu Zhong-ze，Song Chao. Application of fuzzy•-linear dual--mode control in platform stabilization loop[J].Journal of Chinese Inertial Technology, 2008, 4(16): 390-395.
[5] 杨　蒲,李　奇.陀螺稳定平台非线性摩擦的灰色滑模控制[J].系统工程与电子技术,2008,7(30):1328-1332.
Yang Pu，LI Qi. Nonlinear friction grey sliding mode control for gyro stabilized platform[J].Systems Engineering and Electronics, 2008,7(30):1328-1332.
[6] 扈宏杰，王元哲.机载光电平台的复合补偿控制方法[J]. 光学精密工程,2012,6(20):1272-1280.
Hu Hong-jie, Wang Yuan-zhe. Composite compensation control scheme for airborne opto-electronic platform[J]. Optics and Precision Engineering, 2012,6(20):1272-1280.
[7] 姬伟,李奇.自适应模糊PID控制器在跟踪器准线稳定系统中的应用[J].控制理论及应用,2008,2(25):278-282.
Ji Wei, Li Qi. Application of adaptive fuzzy PID controller to tracker line of sight stabilized system[J]. Control Theory and Applications, 2008,2(25):278-282.
[8] 张广立,付莹,杨汝清.一种新型自调节灰色预测控制器[J].控制与决策,2004,2(19):212-215.
Zhang Guang-li,FU Ying,YANG Ru-qing.Novel Self-adjustable Grey Prediction Controller [J].Control and Decision, 2004,2(19):212-215.
[9] 王冬青.非线性时滞系统的神经网络预测控制.天津:天津大学博士学位论文,2005.
Wang Dong-qing. Neural network predictive control of nonlinear time delay systems .TianJin: Doctoral Dissertation of Tianjin University, 2005.
[10] Deng Ju-long (1982). Control problems of grey systems [J]. System & Control Letters, 5, 288-294.
[11] Chiang H K, Chen C A , Li M Y. Integral variable2 structure grey control for magnetic levitation system [ J ] . IEEE Proceedings Electric Power Applications, 2006, 153 (6): 809 - 814.
[12] Sifeng Liu. The Current Developing Status on Grey System Theory [J]. The Journal of Grey System, 2007,2,:111-123.
[13] Yang Wen-han, Liu Si-feng, Wang Yan (2006). The Grey Prediction of Change Trend of Chinese Financial Industry's Credit Size [J]. The Journal of Grey System, 1, 67-74.
[14] Yagang Zhang, Yan Xu, Zengping Wang. GM(1,1) grey prediction of Lorenz chaotic system [J], Chaos, Solitons and Fractals, 2009, 42:1003-1009.
[15] Chen Zhijun, Li Li, Xiao Xinping. GM(1,1) Model and Its Application to Controlling the Inverted Camber of Widening Concrete Bridge [J]. The Journal of Grey System, 2006,4: 365-374.
[16] Jianshan Lu, Weidong Xie, Hongbo Zhou, Aijun Zhang. Vibration suppression using fractional-order disturbance observer based adaptive grey predictive controller. Jve International Ltd. Journal Of Vibroengineering , VOL. 16, Issue 5, 2014:2204-2215.
[17] Lu J.S., Wang C.M., Zhang A.J., Xie X.M. Residual GM(1,1) model-based prediction method for chaotic time series. The Journal of Grey System, Vol. 24, No. 4, 2012, p. 379-388.
[18] Wang Z.X., Dang Y.G., and Pei L.L. Modeling approach for oscillatory sequences based on GM(1,1) power model. Systems Engineering and Electronics, 2011, 33(11): 2440-2444.
[19] 陆建山. 水面武器操瞄系统稳定平台姿态测量及控制技术研究.南京：南京理工大学博士学位论文，2013.
Lu Jian-shan . Reasearch on Attiude Measurement and Control Strategy of Stabilized Platfprm for Shiporne Weapon Aiming System. NanJing: Doctoral Dissertation of Nanjing University of Science and Technology, 2013.