一种新型的随动系统变结构模糊位置控制器

Designation of a Position Controller with Variable Structure Adaptive Fuzzy PID Control

将变结构自适应PID控制及模糊控制两种控制技术相结合,设计了一种新型的变结构自适应模糊PID位置控制器。采用变结构自适应PID控制器进行误差控制,对前馈参数采用模糊控制方法进行在线整定,实现了前馈补偿与误差控制的精确匹配,进一步抑制系统抖动现象,提高系统跟踪精度。试验结果表明,将变结构自适应模糊PID位置控制器应用于数字交流随动系统的位置控制中,既能保证系统的稳定性和快速性,又具有很好的跟踪精度,较好地解决了随动系统跟踪精度、稳定性、快速性要求高,参数难以相互协调匹配的问题,大大改善系统闭环响应的品质,提高了系统的控制性能。

The paper combines variable structure adaptive PID control technology and Fuzzy control technology.Advance a novel position controller based on variable structure adaptive PID and Fuzzy theory.The variable structure adaptive PID control technology is applied to the error control,The Fuzzy control technology is applied to adjust the feed forward’s parameters on line,so the feed forward’s compensating is matching to the error control accurately,then to control the system’s Chattering and improve system’s tracking precision.It’s proved by experiment data that such kind of position controller could improve the position accuracy considerably and responds rapidly,while robustly stabilizing the system.The controller has high tracking precision,quick response time and favorable control effect as well as preferable robustness to model’s uncertainty and noise measurement.It is solves the contradiction of matching among parameters between the position accuracy and responds rapid and system stability,and the system close-loop dynamic performances are improved,the system’s control performance are enhanced as well.