基于预设性能非线性PID穿梭车控制系统设计

Nonlinear PID Control System Design for Shuttle Based on Prescribed Performance

考虑自动化仓储物流系统对穿梭车控制的精准定位和速度稳定控制的问题,本文通过引入预设控制的控制理论,设计了基于预设性能非线性PID穿梭车控制系统。首先建立了穿梭车直流电动机调速控制状态方程,根据穿梭车速度控制的特点设计满足实际要求的预设性能约束函数,基于预设性能控制的误差转化思想,得到等价的无约束函数,进一步设计了非线性PID穿梭车控制系统。最后以一辆穿梭车为例进行仿真研究,结果表明所提出的控制系统能够使其稳态性能和暂态性能均满足预先设定的性能要求,提高了的了穿梭车的工作效率。

Considering the problem of accurate positioning and stable speed control of the shuttle in the automatic warehouse system, this paper introduces the control theory of prescribed performance control, and designs a nonlinear PID shuttle car control system based on prescribed performance. Firstly, the state equations of speed regulation control of shuttle DC motor are set, according to the characteristics of shuttle speed control, a preset performance constrained function is designed. Based on the error transformation theory unconstrained function is transformed, and the nonlinear PID shuttle control system is further presented. Finally, Simulation a supply vessel are carried out, and the results demonstrate that the proposed control system has satisfactory steady-state performance and transient performance of the prescribed performance and improve the working efficiency of the shuttle.