摘要
本文以“小口径高性能自动炮伺服系统”的研制为背景，为了能够实现具有高速度、高加速度、高精度的伺服系统，采用了智能PID控制算法，并介绍了智能PID算法的设计方法及其工程实现，在实际调试中达到了要求的性能指标。为了研究智能PID的稳定性问题，引入了混杂控制系统的思想，对混杂控制系统的概念、研究状况及其发展前景作了详细的介绍。总结了保证整个混杂控制系统李亚普诺夫意义上(指数)稳定的两种混杂控制器设计方法以及如何通过求解LMIs获得李亚普诺夫函数的方法。提出了应用混杂控制系统设计智能PID算法的思想，并进行了仿真研究，仿真结果表明了该方法的有效性。
In this paper, a high performance servo system which is applied to the small caliber gun was studied. In order to get the high performance: high speed, high acceleration, and can track the set-signal quick, we use the intelligent PID to control the system. How intelligent PID is designed in the project, what is its result and performance using this control also is introduced and analyzed, the high performance requirement was satisfied. In next paper, what is hybrid system, why hybrid system should be used, and the hybrid system's model structure, hybrid system's mathematical models and hybrid control system design also are introduced. Intelligent PID can be regarded as a hybrid control. Then the hybrid model, Lyapunov theorem for hybrid control systems are studied and two methods of designing hybrid control which make sure the hybrid control system stable are also introduced. Furthermore, an ideal how to using the designing method of hybrid control to design the intelligent PID is given, As for the searching
of the Lyapunov function, it can be formulated as LMIs. The simulations also are done, the result show the validity of the method.
引文
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