工程机械电液比例阀控制系统模糊PID控制器研究

Research on Fuzzy PID Controller for Electro-hydraulic Proportional Valve in Construction Machinery

把传统线性PID控制和模糊控制结合起来,可使系统的控制性能得到提高,是一种很实用的控制方法。设计两个模糊PID控制器:一个基于误差驱动的增益调整型模糊PID,即模糊自适应整定PID控制器;一个基于生物免疫原理的模糊PID,即模糊免疫PID控制器。以简单阀控马达位置控制系统为控制对象,利用MATLAB创建系统模型,用设计的两模糊控制器控制该系统得出响应曲线。仿真结果表明:两模糊PID控制器均比传统PID的控制性能好,无超调、无振荡、无静差;模糊自适应整定PID控制器鲁棒性较强;模糊免疫PID控制器跟踪设定值的性能较好。

The combination of the traditional PID control and fuzzy control can improve the control performance. It will be a practical method. Two fuzzy controllers, namely the fuzzy gain scheduling PID controller （FGSC）, the fuzzy immune PID controller （FIC） were designed. Taking simple valve-controlled motor position control system as the control object, the simulation model was established using MATLAB. The response curves of this system were got which controlled by the two fuzzy controllers. The simulation results show that the two fuzzy-PID controllers have better control performance comparing with the traditional PID controller, as there is no overshoot, no oscillation and no static error. The FGSC controller has better robustness, while the FIC has a better capability of following set point.