一种自调节灰色预测PID控制器

为提高传统PID控制的性能及扩大其适用范围，提出一种结合传统PID控制、灰色预测和全程快速非线性跟踪．微分器的自调节灰色预测PID控制器。利用灰色预测对系统的输出偏差和预测偏差进行合成形成一个综合偏差，用来代替传统PID控制中的实际偏差项。这样控制器既有预测系统未来行为的功能，又能根据预测模型精度自动调节控制器参数，能有效减小预测误差对系统的不利影响。同时用非线性跟踪．微分器代替差分法来提取微分信号，提高了微分信号的品质。仿真结果表明，与传统PID控制器相比，该控制器可获得更为优良的动态性能。

Self-adjustable Grey Predictive PID Controller

To improve performance of traditional PID control and expand its applicational area,traditional PID control,grey prediction and nonlinear trackingdifferentiator with high speed in whole course are integrated together to build a self-adjustable grey predictive PID controller.By making use of grey prediction,the error item in the traditional PID control is substituted by the integrated error composed of output error and predictive error.The controller has the function of predicting the intending behave of system and can automatically adjust the controller parameters according to the precision of grey predictive model.The bad influence of very unprecise predictive values to system can be reduced.Meantime,differential signal is distilled by nonlinear tracking-differentiator instead of the method of difference,which improves the quality of differential signal.Simulation results show that this controller can achieve better dynamic performance than traditional PID controller.