提出了一种加速度滞后补偿与模糊自适应PI相结合的伺服控制算法.这种算法利用模糊规则制定相应的PI控制参数,针对大机动运动目标的特性,采用加速度滞后补偿方法,两种算法的有效结合提高了伺服系统的跟踪精度以及动态响应能力.该算法运算量小,实时性好,可在硬件上实现.实验表明,此算法对最高速度为30°/s、最高加速度为10°/s2的运动目标可以实现快速地捕获以及稳定地跟踪,跟踪精度均方值为13.8″.%A servo control algorithm based on acceleration delay compensation and fuzzy-PI control is described. This algorithm uses fuzzy rules to formulate the corresponding PI control parameters. For the characteristics of large maneuvering target, the acceleration delay compensation method is adopted. The effective combination of two algorithms improves the tracking accuracy and the dynamic response capability of the servo system. This algorithm has small computation, good real-time, and can be realized in hardware. Experiments show that the algorithm can achieve fast tracking and stable tracking for fast moving target (The maximum acceleration of the target is 30°/s and the maximum acceleration is 10°/s2.), tracking accuracy of 13.8″.
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