应用于直线电机的平滑切换模糊PID控制方法

Method of Smooth-switch Fuzzy PID for Linear Motor Control

为了适应直线电机的快速动态特性,抑制由于直接驱动使参数摄动和负载扰动等不确定因素对伺服特性的影响,提出了一种新的平滑函数模型,设计了平滑切换式模糊PID复合控制器,并应用于直线电机位置伺服控制。通过模糊控制提高伺服系统的动态性能,用PID控制保证系统的稳态性能,利用平滑函数改善控制切换过程。在PRS-XY型混联机床上的应用表明,该控制算法明显提高了伺服系统的动态性能,减小了位置跟随误差,对非线性扰动因素具有良好的适应性。

In order to adapt the swift dynamic characteristics of linear motors and restrain influence on servo performance owing to uncertain factors of parameter diversification and load disturbance caused by the direct drive, a new smooth function is proposed and a smooth-switch fuzzy PID compound controller is designed, which is applied to the position servo control of linear motors. The robust dynamic characteristic of the servo system is attained by fuzzy control and the static performance is ensued by PID control, while switching process between two control methods is improved by using smooth function. It is proved by application on PRS-XY hybrid parallel kinematics machine tool that, the dynamic characteristic of the servo system is dramatically ameliorated with reduction of the following error, and the adaptive ability to the nonlinear disturbance factors is enhanced.