基于免疫PID的漂浮式小型天线扰动抑制研究

Disturbance rejection of the floating small-size antenna based on the immune PID

针对小型天线漂浮于海面所受到的各种扰动,研究了一种基于免疫反馈原理的免疫比例-积分-微分(Proportional-Integral-Derivative,PID)控制器,应用于海面小型漂浮式动载天线跟踪卫星的姿态控制中,保证扰动环境下漂浮式天线与卫星间高质量通信.研究小型天线在海洋中漂浮时所受到海洋环境扰动的类型和特点;将免疫反馈原理和PID控制器相结合组成免疫PID控制器,应用于抑制海洋环境扰动对小型漂浮天线姿态控制的影响;以小型天线方位系统控制为例,通过Matlab仿真和半实物仿真验证了免疫PID控制器可以很好地实现海洋环境扰动下小型天线的方位控制,可很好地抑制各种扰动对天线方位调整的影响,保证漂浮式天线与卫星间的高质量通信.

An immune proportional-integral-derivative（PID）controller based on the immune feedback mechanism is studied,which is applied in the process of the attitude control under all kinds of disturbances on sea to ensure the communication between the antenna and the satellite with high quality when the floating small-sized antenna tracks the target satellite.The various disturbances are studied and the immune PID controller based on the immune feedback mechanism and PID is designed to reject the disturbances on sea which affect the attitude control of the floating small-sized antenna seriously.Taking the azimuth control of the floating small-sized antenna as an example,MATLAB simulation and hardware-in-loop simulation validate the immune PID controller can realize the azimuth control under the disturbances,reject the influence of the disturbances and ensure the communication with high qualitybetween the floating small-sized antenna and the target satellite.