变结构PI控制器的设计及其在光电跟踪系统中的应用

Design of a variable structure PI controller and its application in photoelectronic tracking systems

为了给光电跟踪系统提供高性能的伺服控制,基于传统的PI控制器原理,结合变结构的思想,设计了一种变结构PI控制器(VSPI)。介绍了该控制器的工作原理并讨论了设计参数的选择。基于某型号光电跟踪系统,分别对采用了VSPI、抗积分饱和PI控制器(AWPI)和积分分离PI控制器(ISPI)作为位置回路控制器的伺服控制系统进行了仿真和实验。实验结果表明,采用了VSPI的光电跟踪系统基本无超调,上升时间为0.378s,稳定时间为0.488s,跟踪精度为1.26″。该系统结构简单,能实现嵌入式实时控制;与其他两种控制器相比综合性能更好,完全满足光电跟踪系统精度高、响应快的要求。

With the aim to provide a high performance servo control for photoelectronic tracking systems, a simple Variable-structure PI controller（VSPI） is presented by combining the traditional PI controller theory and the variable-structure idea, then the principles of the controller are introduced and its design parameter selection is also discussed. Based on the structure of a photoelectronic tracking system , the servo control systems by using VSPI,Anti-windup PI controller（AMPI） and Integral Separation PI controller（ISPI） are simulated, respectively, and the experiments on positioning tracking and equivalent sine tracking are also carried out. The experimental result shows that the system with VSPI controller has no overshoot and its rise time, settling time and tracking precision are 0. 378 s,0. 488 s and 1.26＂,respectively. Compared with the systems using other two algorithms, the system with VSIP can complete real time control and can offer better comprehensive performance, which completely satisfies the requirements of photoelectronic tracking systems for high precision and fast response.