一种数字电动舵机的非线性PID控制算法研究

A Better Non-Linear PID Controller of Digital Electromechanical Actuator System

文章介绍了一种非线性PID控制算法在数字电动舵机中的应用,利用跟踪微分器,获得输入输出的位置跟踪误差和它们的微分误差,并对它们进行非线性组合完成非线性PID控制器的设计,并在Matlab上进行了仿真同时进行了实际舵机控制的验证实验。仿真和实验结果表明通过该算法所设计的舵机控制器,控制动态性能好,稳态误差小,对系统内部非线性参数不确定性和外部负载变化有较强的控制鲁棒性。

Aim. To our knowledge, existing non-linear PID controllers require that the parameters of the actuator model be either completely accurate or at least partially accurate. We propose a non-linear PID controller that does not make such a requirement on the actuator model; the design of such a controller is explained in sections 1 and 2 of the full paper. Their core is that： we use the tracking differentiator to obtain the position tracking error and the differential error, and then we use their non-linear combination to design the non-linear PID controller, whose block diagram is shown in Fig. 2. Section 3 simulates our non-linear PID controller and does experiments on the control of a real digital electromechanical actuator. The simulation and experimental results, given in Figs. 4, 5 and 6 and Table 1, show preliminarily that our PID controller has good dynamic performance, small steady - state error, the robust control of the uncertainties of the parameters of the digital electromechanical actuator and the robust control of the changes in its external load.