| 稳定平台的自适应逆控制 |
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| 引用本文： | 李英,葛文奇,王绍彬,徐正平,张淑梅.稳定平台的自适应逆控制[J].光学精密工程,2009,17(11):2744-2749. |
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| 作者姓名： | 李英 葛文奇 王绍彬 徐正平 张淑梅 |
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| 作者单位： | 李英(中国科学院,长春光学精密机械及物理研究所,吉林,长春,130033;中国科学院,研究生院,北京,100039;长春理工大学,吉林,长春,130022);葛文奇,张淑梅(中国科学院,长春光学精密机械及物理研究所,吉林,长春,130033);王绍彬(长春理工大学,吉林,长春,130022);徐正平(中国科学院,长春光学精密机械及物理研究所,吉林,长春,130033;中国科学院,研究生院,北京,100039) |
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| 基金项目： | 中国科学院创新工程基金 |
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| 摘 要： | 稳定平台严格来说是一个复杂的非线性的控制系统，常规的PID控制很难满足其高精度、快响应的特点。本文采用模型参考自适应逆作为控制器来完成稳定平台转轴的控制，尝试利用其开环特性来改进稳定平台的控制性能。稳定平台模型辨识和控制器的设计算法上都采用最小二乘法（LMS），仿真结果表明采用自适应逆控制的稳定平台具有响应快、无超调、抗干扰能力强以及稳态误差小等优点，其动、静态性能均优于常规的PID控制
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| 关 键 词： | 稳定平台 自适应逆控制 LMS算法 |
| 收稿时间： | 2008-10-06 |
| 修稿时间： | 2008-12-12 |
Adaptive inverse control of stable platform |
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| LI Ying,GE Wen-qi,WANG Shao-bin,XU Zheng-ping,ZHANG Shu-mei.Adaptive inverse control of stable platform[J].Optics and Precision Engineering,2009,17(11):2744-2749. |
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| Authors: | LI Ying GE Wen-qi WANG Shao-bin XU Zheng-ping ZHANG Shu-mei |
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| Affiliation: | LI Ying1,2,3,GE Wen-qi1,WANG Shao-bin3,XU Zheng-ping1,ZHANG Shu-mei1(1.Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China,2.Graduate University of Chinese Academy of Sciences,Beijing 100039,3.Changchun University of Science and Technology,Changchun 130022,China) |
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| Abstract: | Stable platform is a complicated nonlinear system. The common PID control can not meet the requirement of high precision and fast response. The adaptive inverse control was introduced in the system of stable platform. Based on it , the system utilize its character of open circle to improve system capability. In the model building to object model and object inverse model, the NARX network is used. The algorithm uses the least square method instead of least square(LMS) to identify the parameters and design the control. The simulation results show several advantages of this control strategy, such as sensitive response, non-overshoot, good anti-disturbance, and minimal stable error, and showed dynamic/static performance was superior to those of conventional PID method. |
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| Keywords: | PID |
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