基于模糊自适应PID的连续旋转寻北仪转速控制

摘要

The speed control technology of continuous rotary north-finder is studied. In view of the instability of rotary mechanism that is induced by environmental interference during north-finder' s working. The fuzzy self-adaptive PID technology is used to realize speed control of north-finder. The result of simulation shows that the fuzzy self -adaptive PID has the advantages of fast response speed, strong anti-interference ability, good robustness, and etc. It can overcome the limitation that the parameters heavily rely on accurate model in classical PID technology, fast and effectively calm the disturbance during working time, and improve the rotary speed stability of north-finder.%对连续旋转式寻北仪转位机构的转速控制技术进行研究.针对寻北仪工作过程中,受到外部环境因素干扰,导致转位机构脱离稳态运行,影响寻北精度的问题,为了提高寻北精度,提出采用模糊自适应PID的方法对寻北仪的连续旋转进行稳速控制.利用模糊控制规则对PID参数进行实时调整,有效改善系统的动态和静态特性.仿真结果表明,模糊自适应PID 控制具有超调小、响应速度快、抗干扰能力强、鲁棒性好等优点,克服了经典PID)控制参数依赖于系统精确数学模型的缺陷,对工作过程中出现的干扰力矩,能够实现快速有效的稳定调节,提高了寻北仪转位机构的转速稳定性.