带有干扰观测器的PID-CMAC控制系统设计

Disturbance Observer Design Based on PID-CMAC Control System

PID神经网络有很强的拟合能力,它用于基于神经网络逆模型的干扰观测器设计,并进一步设计了带一种带有干扰观测器的PID-CMAC复合控制系统。该系统解决了内扰无法观测的问题,通过设置干扰观测器加快了消除内扰的过程,CMAC的控制作用使系统输出能够更快地跟踪系统输入。实验表明,该控制系统不仅能够提高系统输出跟踪系统输出的能力,而且能够更快地消除内扰。

A disturbance observer was designed based on PID neural networks＇ inverse model. The disturbance observer was used to construct a complex PID-CMAC control strategy. Then PID neural network was used to solve the problems that mathematical models and inverse models were difficult to get when constructing disturbance observer. PID-CMAC control strategy designed is more robust than normal PID control strategy. Simulation result shows the disturbance observer applying in PID-CMAC control system can increase system＇s robust and can reduce the disturbances＇ influence on system＇s output effectively.