基于灰色PID的摆动气缸伺服系统位置跟踪研究

针对具有不确定或未知的外部负载干扰的阀控摆动气缸位置跟踪控制问题,提出以灰色系统理论与PID控制相结合的方法。构造了灰色PID控制算法,对系统不确定部分建立灰色模型,进行灰色预估补偿,实现对PID参数的最佳整合。经仿真和试验研究表明,该算法可以提高PID控制质量及其鲁棒性,获得较好的跟踪控制效果。

Research on Position Tracking of Pneumatic Rotary Actuator Position Servo-system Based Grey PID Control

An approach, which combines grey control with the traditional PID control,is proposed for the tracking control of the valve control Pneumatic Rotary Actuator Position servo-system with the uncertainties carry disturbance.The algorithm set up the grey model of the system'uncertain parts throuth grey forecasting compensation, which was used to revise the parameter of PID. Simulation experiments show that the algorithm can improve PID control quality and robustness and obtain good control results.