模糊自适应PID控制在高精度光电跟踪伺服系统中的应用

光电跟踪伺服系统在运行时不可避免地会受到摩擦力、机械谐振等非线性和不确定因素的影响，运用常规PID控制往往不能解决跟踪的快速性和稳定精度之间的矛盾。将模糊自适应PID控制应用于系统控制器设计中，在模糊推理的基础上，根据不同时刻的误差和误差变化率对PID控制器参数进行在线自整定，充分发挥了模糊控制和PID控制在系统动、静态性能上的互补性，而且不需要建立被控对象的精确数学模型。进行了实物仿真和跟踪实验，实验结果表明，该设计方法很好地满足了系统对快速性、平稳性以及稳定精度的要求，有效地增强了系统的鲁棒性。

Application of Adaptive Fuzzy-PID Control in High Accuracy Optoelectronic Tracking Servo System

The optoelectronic tracking servo system inevitably suffers from the influence of some nonlinear property and uncertain factors such as friction and mechanical resonance.As usual,the conventional PID controller can not deal with the contradiction between rapidity and stable accuracy.Therefore the scheme of an adaptive Fuzzy-PID controller was proposed.Based on fuzzy inferences,fuzzy adaptive PID control was applied to system control design.Parameters self-adjustment on line of PID controller was performed a...