基于Kalman滤波模糊PID控制的直流调速系统

DC speed regulation system based on fuzzy-PID control with Kalman filter

为了提高直流调速系统的控制性能,针对系统中存在的非线性及结构参数变化范围大的特点,提出了一种基于Kalman滤波的参数自整定模糊PID控制器。该控制器将传统的PID控制算法与模糊控制算法相结合,通过对误差及误差变化的在线识别,实现对PID参数的自整定,并采用Kalman滤波对信号进行滤波处理。Matlab仿真结果表明,与传统的线性PID控制器相比,该控制系统具有良好的动态和稳态性能,鲁棒性强,控制性能显著提高。

Aiming at improving the control performance of DC speed regulation system, based on the characters of nonlinear and the large varied region of the system, a parameter self-tuning fuzzy-PID controller with Kalman filter was introduced. Combining traditional PID control algorithm and fuzzy control algorithm, the PID parameters used in the DC speed regulation system were self-tuned by measuring on-line control error and error varying , and the speed signals were filtered with Kalman filter. The simulation results in the Matlab indicate that the method can enhance the performance of PID controller, the DC speed regulation system has good dynamic and static characteristics, and strengthens the robustness of the system.