自适应模糊PID前馈补偿在机载挂飞摆扫转台控制中的应用

Application of Fuzzy PID adaptive feed forward compensation on the swing turntable control mounted on flying helicopter

摘要:

针对机载挂飞转台的摆扫速度控制问题,提出了一种利用模糊自适应PID技术进行前馈补偿的复合控制策略。首先根据实际应用提出摆扫转台的期望摆扫速度曲线,并对直流力矩电机驱动的摆扫转台进行了建模；然后根据扰动前馈补偿的控制原理,提出了模糊自适应PID前馈补偿方法,为摆扫转台的速度环设计了模糊PID控制器,并在此基础上设计了与之相适应的的自适应前馈补偿函数；最后进行了仿真结果验证。通过Matlab仿真结果表明,相对于模糊PID控制,所设计的模糊自适应PID前馈补偿控制器能有效的跟踪期望的转台摆扫速度,大幅地提高了在有稳定干扰和摆扫速度越变情况下的跟踪精度。

Abstract:

In the paper, the design background is the scanning imaging experiment project mounted on the helicopter, aiming at the scanning speed control problem of airborne flying turntable. We propose a fuzzy adaptive PID compound control strategy with feed forward compensation. Firstly according to the practical application, our present the expect swing speed curve of turntable and build the model of the turntable control system that be driven by DC torque motor; then according to the disturbance feed forward compensation control principle, our propose fuzzy adaptive PID feed forward compensation method, and design of the fuzzy PID controller for the speed loop of the sweep turntable, and design the adaptive feed forward compensation function on this basis; the result is verified by the simulation results. Through the MATLAB simulation, the results show that compared with the fuzzy PID control, the design of fuzzy adaptive PID feed forward compensation controller can effectively track the desired turntable pendulum sweep speed and greatly improve the tracking accuracy in a situation of stable interference and the more variable of pendulum sweep speed .