基于九点控制器的斜坡跟踪

Ramp Trail Based on the Principle of Nine - point Controller

九点控制器是根据偏差和偏差变化的大小在相平面上采用不同的作用力以达到控制要求的控制器,是一种新型的智能控制器。该文介绍了在九点控制器作用下的斜坡跟踪原理。借助于受控相平面,详细分析了控制作用力参数Ki(i=0,±0,±2,±3,±4)对斜坡跟踪稳定性能的影响,并给出了如何调整各个控制作用力参数以达到斜坡跟踪性能的要求。在二阶系统下,与PID控制器相比,九点控制器对性能指标进行了分解,同时能克服PID控制器参数难以整定的缺陷,具有优良的控制效果。

It is the nine -point controller that is taken different force value to obtain the controlling demand on the phase plane according to error and error rate of the system. It's a new intelligent controller. This paper introduces the basic principle of ramp trail by using nine - point controller. The paper analyzes how the parameters of control force——Ki (i=0,±1,±2,±3,±4) influence ramp trail's stable performance in detail, and describes how to adjust the parameters to trace ramp input by the controlled phase plane to meet the requirement. Under two - order system , compared with the controller of PID, nine - point controller proceeds the decomposition to the function index sign, can overcome the PID controller' weaknesses, and has good control result.