摘要
在飞行器舵机优化控制问题的研究中,针对电动舵机快时变、非线性的特点设计了改进自抗扰控制器,并根据现代控制理论给出了控制器参数的选取准则。为了进一步提高系统的性能,采用多学科优化软件iSIGHT中集成的多目标遗传算法NSGA-Ⅱ对改进自抗扰控制器进行参数整定,以某型电动舵机系统为被控对象,将优化前后的控制器进行仿真对比。结果表明阶跃响应时,超调量为0.098%,ITAE为0.113,上升时间为0.00098s;正弦信号响应时,稳态误差为4.8。结论表明采用优化后的控制器,舵机系统动态和静态性能得到了改进,证明设计的控制器具有较高的控制精度和较好的鲁捧性。
According to the characteristics of fast time varying and nonlinearity , an improved active disturbance rejection controller （ADRC） was designed. Selection principle of improved ADRC parameters was presented based on Modem Control Theory. In order to improve controller performances, the improved ADRC parameters were opti mized by NSGA II algorithm integrated in the multidisciplinary optimization software iSIGHT. Take EMA for an ex ample, simulation was carried by optimized controller and non optimized controller. The simulation results show that with optimized controller, overshoot is 0. 098% , ITAE is 0. 113, and rise time is 0. 00098s, when step signal is given, steady state error is 4. 8, when sin signal is given. The system static and dynamic performance is improved by optimized controller. The tracking simulation verifies the robustness and practicability of the optimized controller.
出处
《计算机仿真》
CSCD
北大核心
2014年第4期259-263,325,共6页
Computer Simulation
