扰动补偿的陀螺稳定平台单神经元自适应PI控制

针对陀螺稳定平台受未知非线性干扰的影响,提出了一种基于扰动补偿的单神经元自适应PI控制策略.利用扰动观测器观测出各种扰动,将其作为补偿信号前馈到控制输入端,提高平台的抗干扰能力；同时利用神经元的自学习和自适应力对PI参数进行在线调整,保证了平台在外界扰动和系统参数变化情况下对目标稳定跟踪的能力.通过在某型号实验装置上的试验结果表明,该方法对不确定扰动具有较强的抗干扰能力,提升了稳定平台的自适应性和鲁棒性.

Single-neuron adaptive PI control of the gyrostabilized platform based on disturbance compensation

In order to improve the nonlinear disturbance rejection property of the gyrostabilized platform,a single-neuron adaptive PI controller is presented based on a disturbance obserber(DOB).First,the DOB was introduced to estimate the lumped disturbances of the system.The estimated value was used in the feed-forward compensation design to improve the disturbance rejection ability.Second,a single-neuron adaptive PI controller was employed for the feedback design,which is with characteristic of self-adapting and self-learning that can adjust control parameters online to ensures target tracking ability under the changing disturbances and changing system parameters.Rigorous analysis and experimental results show that the proposed scheme ensure good anti-disturbance ability which can enhance the robustness and adaptability of the gyrostabilized platform.