基于NTD的插值FLC控制算法的研究与应用

Study and Application of An Interpolation FLC Control Algorithm Based on NTD

针对具有滞后性、非线性和耦合性的高精度运动轨迹控制,尤其在控制对象精确的数学模型难以建立的情况下,很难实现精确的定位,本文提出了基于非线性跟踪微分器(NTD)的插值模糊控制(IFLC)算法;并以大射电望远镜精调Stewart平台为控制对象,分析了控制策略,对其进行数值仿真和试验研究,得到了较高的控制精度;此种控制算法对于大滞后、非线性、强耦合的控制系统具有较高的可行性和高效性,同时易于工程实现。

To resolve the dead-times, non-linearity and coupling of a high precision tracking control system, especially, the math model of the control object is difficult to be established. An Interpolation Fuzzy Logic Control algorithm （IFLC） based on nonlinear Tracking Differentiator （NTD） is presented. The Stewart platform of A Large Radio Telescope is studied as the control object. The control strategies are analyzed. Simulation and experimentation resuhs are given with a high control precision. The control algorithm has a higher feasibility and efficiency. And it＇s easy to be realized.