摘要
针对车辆转向系统的液压力加载测试系统,建立传递函数模型.用时间乘以误差绝对值积分的ITAE性能指标作为评价准则,通过Matlab计算出适用于系统的最优PID控制器控制参数.使用FOMCON工具包创建分数阶PIλDμ控制器.对积分和微分环节选取分数阶参数阶次λ和μ,通过调节微分和积分环节的阶次观察对分数阶控制器的影响.通过控制性能对比,发现阶次取值在0~1范围内,积分阶次对响应的影响要比微分阶次的影响更大.固定最优PID参数,求得λ和μ最优值.仿真表明,其精度满足技术要求,分析系统伯德图可知系统工作稳定,冗余储备高.
The transfer function model of a hydraulic loading testing system for automotive steering system was built.Using the characteristic index of the integration of absolute difference-ITAE times the time as an assessment criterion,the optimal PID controller parameters were calculated with the help of Matlab.The fractional-order PID controller was designed and built by using the FOMCON tool box.The fractional orderλ andμ were picked,and both factors were varied individually to see the influence to the control effects.In the range of 0~1,the factorλhas bigger influence than the factorμ.Fixing the optimal parameters of PID,the optimal fractional order factors were determined.The simulation shows the controller meets the technical requirement,and on the Bode diagram it can be seen that the system is stable.
出处
《上海理工大学学报》
CAS
北大核心
2015年第6期589-593,共5页
Journal of University of Shanghai For Science and Technology
基金
上海市自然科学基金资助项目(12ZR1420700)
