引入加速率改进板球系统RBF-PID轨迹跟踪控制

Improving RBF-PID Trajectory Tracking Control of Ball and Plate System by Introducing Acceleration Rate

板球系统是一个典型的两输入两输出的非线性系统.针对板球系统RBF-PID控制算法存在响应速度慢、小球轨迹精度低等问题,在忽略干扰因素的条件下对板球系统应用拉格朗日方程进行数学建模,提出引入加速率(Acceleration rate)的概念,以缩短板球系统的响应时间,进而优化系统整体控制时间,提高控制精度.由此设计出的AR_RBF-PID算法整定PID控制参数,在板球系统实验中分别对RBF-PID算法和AR_RBF-PID算法进行对比,并借助MATLAB软件完成算法的定点和定圆轨迹仿真,实验结果表明所提控制算法提高了系统的响应速率和控制精度,能够确保板球系统跟踪控制有较快的响应时间和良好的稳定性.

Ball and plate system is a typical two-input two-output system. In order to solve the problems of slow response speed and low accuracy of ball trajectory in the RBF-PID control algorithm of ball and plate system, the Lagrange equation was applied to the ball and plate system under the condition of ignoring interference factors. Referring to the gradient descent method of the original RBF-PID parameter adjustment, the Acceleration rate was introduced to speed up the system’s response speed, shorten the system control time, and improve the control accuracy. The AR_RBF-PID algorithm designed by this method set the PID control parameters. In the ball and plate system experiment, the RBF-PID algorithm and the AR_RBF-PID algorithm were compared respectively, and the fixed-point and circular trajectory simulation of the algorithm was completed by using MATLAB software. The experimental results show that the proposed control algorithm improves the response rate and control accuracy of the system, and ensures the fast response time and good stability of the tracking control of ball and plate system.