摘要
以磁悬浮系统为对象,通过钢球位置与控制电流的实验拟合曲线,在MATLAB下运用S-函数建立了非线性模型.针对磁悬浮系统开环不稳定、强烈非线性等特性,结合PID控制和模糊控制的优点,提出了一种改进的模糊自适应PID控制方法.对位置偏差E及偏差变化率Ec采用非线性模糊化,并将PID控制器中D环节从模糊控制器中独立出来,只对P和I参数进行模糊自整定.仿真结果表明:IFPID控制系统的抗干扰和自适应能力都优于常规PID控制,具有更好的动态特性和稳定性.
The Nonlinearity model of magnetic levitation system was established with the experimental fitting curve between the ball position and the control circuit by S-function in MATLAB. Combining both the advantages of PID controller and fuzzy controller, an improved fuzzy adaptive PID controller （IFPID）was proposed aiming at open-loop instability and strong nonlinearity of maglev system. The algorithm of IFPID controller adopted nonlinear fuzzy of position deviations E and variation rates of deviation Ec, and separated D controller from PID controller while P and I parameters were adapted by fuzzy controller. The simulation results show that the IFPID controller has the advantages of higher anti-interference ability and adaptability than the conventional PID controller, and better dynamic property and stability.
出处
《中北大学学报（自然科学版）》
CAS
北大核心
2010年第5期458-462,共5页
Journal of North University of China(Natural Science Edition)
基金
黑龙江省自然科学基金资助项目(F2008003)
黑龙江省教育厅科技研究项目(11551089)
关键词
模糊控制
自适应控制
非线性
磁悬浮
fuzzy control
adaptive control
nonlinearity
magnetic levitation
