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为解决系统初始值大范围变化,且控制量受到饱和特性约束的板球系统镇定控制问题,提出一种自动调整待设计参数的反步控制方法.分析了反步法偏差系统的平衡点特性;说明了反步法待设计参数与偏差系统动态间的关系;构造了Mamdani模糊逻辑,以自动调整反步法待设计参数;考虑了控制量受饱和特性限制而引入的约束条件,进而以遗传算法优化了模糊规则.仿真和实验结果均表明,自动调整待设计参数的反步控制方法降低了镇定控制中的位置偏差和位置超调.
In order to solve the problem of stabilization of cricket system with large variation of system initial value and constrained by the saturation characteristics of control system, a method of backstepping to automatically adjust the parameters to be designed is proposed. The equilibrium characteristics of the system are analyzed. The relationship between the design parameters of backstepping method and the system dynamics is explained. The Mamdani fuzzy logic is constructed to automatically adjust the backstepping method to design parameters. The constraints introduced by the limit of control parameters are also considered. Then the genetic algorithm The fuzzy rules are optimized.The simulation and experimental results show that the backstepping control method to automatically adjust the parameters to be designed reduces the position deviation and position overshoot in the stabilization control.