非线性PID仿人智能控制算法及仿真

Study and Simulation on Nonlinear PID Human-simulated Intelligent Control Algorithm

针对仿人智能算法中,由固定增益的比例和智能积分组成的控制器不能获得满意的动静态控制性能的缺点,在系统阶跃响应曲线的不同阶段,模拟了经验丰富的操作人员的控制策略,将非线性比例环节、积分环节和固定增益的微分环节引入到仿人智能控制中,提出了一种非线性PID仿人智能控制算法。通过对三阶系统的数值仿真,证明了该算法的有效性。

Contraposing the controller made up of fixed-plus proportion and intelligent integral can not achieve the expectant dynamic and static characteristic, the control strategies of seasoned manipulators are simulated in different phases of step response curve of the system, a nonlinear PID Human-simulated Intelligent Control algorithm is presented by importing P, nonlinear I and fixed-plus D into Human-simulated Intelligent Control. The algorithm＇s validity has been approved by three-order model simulation.