基于预测控制的PID调节位置跟踪系统的设计

Design of PID position tracing system based on predictive control

通过对预测控制和传统的PID闭环控制的分析和研究,提出了将先进的预测控制算法和经典的PID闭环控制相结合,构成软硬件结合的双层控制的思想。建立了一个三轴仿真系统中的交流伺服电机模型,并将控制算法应用于系统的单轴进行了控制实验研究.结果表明,该双层控制策略比PID控制算法使系统在跟踪特性、稳定性和鲁棒性等方面都有了提高.

The predictive control and the PID control are studied in this paper. A new double layer control algorithm that combines the predictive control with the PID control is proposed. With modeling an AC servo motor in a three axes simulation system, the related researches of the control algorithm are carried out for the motor. It is verified by experiment that the new control algorithm has better robust, stability, and tracking performance than the PID control without the predictive control.