摘要
为了实现探针在圆柱空间内的精确定位,设计了三自由度定位机构和永磁交流伺服控制系统.针对交流伺服系统时变、非线性等特点以及风荷载的扰动,结合模糊控制和PID控制各自优点,提出了模糊-PID双模控制策略.在分析控制系统特点的基础上,利用MATLAB设计了模糊-PID双模控制器,最后对控制系统进行了仿真分析.仿真结果表明,该控制策略解决了PID控制的参数难以整定、抗干扰能力差和模糊控制的稳态误差大等问题,显著提高了系统的瞬态性能,改善了系统的稳态精度.
In order to achieve the exact positioning of probe in the cylindrical space, the 3-DOF positioning mechanism and permanent magnet AC servo system were designed. Aiming at the disadvantages such as parameters varying with time, motor being non-linear of AC servo system and the wind load disturbing, the dual-mode control strategy of fuzzy-PID which combines the advantages of fuzzy control and PID control was presented. Based on analyzing the characteristics of AC servo system, the fuzzy-PID controller was designed. Finally the control system was simulated and analyzed. The results show that the fuzzy-PID control can obviously improve the transient performance and steady-state accuracy of the AC servo system. Those problems such as difficulty to set the parameters, poor anti-interference ability of PID control and large steady-state error of fuzzy control were solved after using dualmode control strategy.
出处
《应用科技》
CAS
2009年第10期44-47,52,共5页
Applied Science and Technology
