一种基于自适应灰色预测控制的复合控制方法

孟红波,王昌明,张爱军,包建东

振动与冲击 ›› 2016, Vol. 35 ›› Issue (11) : 123-129.

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振动与冲击 ›› 2016, Vol. 35 ›› Issue (11) : 123-129.
论文

一种基于自适应灰色预测控制的复合控制方法

  • 孟红波,王昌明,张爱军,包建东
作者信息 +

A Compound Control Method Based on Adaptive Grey Prediction Control

  • MENG Hong-bo, WANG Chang-ming, ZHANG Ai-jun,BAO Jiandong
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文章历史 +

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。

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.

关键词

灰色预测控制 / 自适应调节模块 / 复合控制 / 稳定平台

Key words

grey prediction control / adaptive adjustment module / compound control / stabilization platform

引用本文

导出引用
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[J]. Journal of Vibration and Shock, 2016, 35(11): 123-129

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