基于串级PID和复合滤波算法板球控制系统设计

Design of Cricket Control System Based on Cascade PID and Compound Filtering Algorithm

本文设计了一种基于串级PID算法和复合滤波的板球控制系统,通过多级错频获取速度差和位置差,并复合滑窗滤波和低通滤波算法,给出了以小球速度差为内环,位置偏差为外环的双闭环平衡控制策略,在simulink平台搭建了仿真模型并进行研究,同时利用J-Scope调试软件进行实际效果波形检测,结果表明本文设计应用的串级PID算法相对于经典单闭环位置式PID算法稳定性更强,系统稳态误差越小,添加复合滤波后,系统抖动明显减弱,位置控制更加精确,增强了板球控制系统实时控制动态响应效果。

In this paper,a cricket control system based on cascade PID algorithm and composite filter is designed.The velocity difference and position difference are obtained through multi-stage cross-frequency,and the composite sliding window filter and low-pass filter algorithm are used to give a double closed-loop balance control strategy with small ball velocity difference as the inner loop and position deviation as the outer loop.The simulation model is built and studied on simulink platform.At the same time,the actual effect waveform is detected by J-Scope background debugging software.The results show that the cascade PID algorithm designed and applied in this paper is more stable than the classical single closed-loop position PID algorithm,and the smaller the steady-state error of the system is.After adding composite filtering,the system jitter is significantly reduced,the position control is more accurate,and the real-time control dynamic response effect of cricket control system is enhanced.