稳定跟踪平台的FKAPID控制算法

摘要

针对传统PID控制算法在稳定跟踪平台控制中的诸多问题,提出一种带有卡尔曼滤波器的基于前馈补偿和抗积分饱和PID (FKAPID)控制的控制方法.计算机仿真实验表明,控制方法使系统的单位阶跃响应的超调量减小到6％,调节时间缩短至1.4s,跟踪误差的均方差值减小了1个数量级以上,动态响应性能、对周期性信号的跟踪性能和对干扰的抑制能力明显提高.%According to the disadvantages of the taditional PID control algorithm in stabilized tracking platform control,a new algorithm based on the Feed-forward compensation,Kalman filter,and Anti-windup PID (FKAPID) is proposed in this paper.The simulation result shows that,with this algorithm,the overshoot of step response is reduced to 6％,the settling time is shortened to 1.4s and the mean square deviation of the tracking error is reduced by more than 1 order of magnitude.The performance of dynamic response,tracking of the periodic signal and suppression of interference are improved significantly.