改进灰色预测PID及EPS试验台扭矩加载系统控制

Improved Grey Prediction PID and Control of Torque Loading System of EPS Test Platform

针对EPS试验台扭矩加载系统具有被控对象惯性较大,采样周期较短,电机响应频率不够等特点,提出一种基于强化缓冲算子的改进灰色预测PID控制算法,采用优化背景值和初始条件的改进GM(1,1)模型作为预测模型,并将强化缓冲算子引入改进的灰色预测PID控制系统,提高预测模型的预测精度,克服了被控对象惯性大,采样周期短,响应频率不够,反馈不及时,该方法具有很强的适应性和鲁棒性;通过对EPS试验台扭矩加载系统对象的仿真,以及在EPS试验台的实验表明,与经典PID控制、常规的灰色预测PID控制相比,该方法对于抑制扭矩输出过冲以及减小扭矩输出波动都具有显著地效果,具有更高的控制精度和更好的动态性能。

In allusion to large inertia, short sampling period and short motor response frequency of EPS test platform, a new improved grey prediction PID control method based on strengthening buffer operator was proposed. Optimize the background value and the initial con- ditions of GM （1, 1） model as the prediction model, use predicted value replace the measured value, and introduce strengthening buffer oper- ator into grey prediction PID control system, to improve the prediction accuracy of prediction model, overcome large inertia, short sampling period, short motor response frequency and lack of feedback of the control system. This method has strong adaptability and robustness. The simulation results of first--order system and torque loading system of EPS test platform and test on EPS test platform show that, by using this control method, the desired control effect can be achieved and its control precision is obviously superior to that of classical PID control and the traditional grey prediction PID control.