摘要
为了改善复杂航迹跟踪过程动态及稳态控制性能指标,采用舵角反馈将整个过程分化为瞬态工作域和稳态工作域,分别采用模糊PD与PI控制器满足各工作域内的控制指标,全局控制器通过各局部控制器的模糊合成得到.根据劳斯-赫尔维茨稳定性判据证明了闭环系统稳定条件,数值仿真对比实验表明所提出算法能够有效缩短过渡过程时间,同时保证了稳态精度.
To improve the steady and transient control performance of the complex trajectory tracking process,the rudder angle feedback variable was utilized to separate the whole process into transient and steady regimes,where fuzzy PD and PI controllers were used to meet the control targets,respectively.A global controller was obtained by fuzzy blending of each local controller.According to the Routh-Hurwitz criterion,the stability conditions for a closed-loop system were derived.The comparison experiment by numerical simulations shows that the proposed algorithm can shorten the transient time while guaranteeing steady accuracy.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2012年第5期562-566,共5页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(50979058)
中央高校基本科研业务费专项基金资助项目(2011QN111)
辽宁省重点实验室基金资助项目(LS2010019)
辽宁省教育厅科技研究基金资助项目(2008S022)
关键词
航线跟踪
模糊切换
PID控制
工作域
稳定性
way-point tracking
fuzzy switching
PID control
operating regime
stability
