基于模糊自适应PID的随动系统设计与仿真

Design and Simulation of Servo System Based on Self-adaptive Fuzzy PID Control

研究随动控制系统优化问题,常规PID控制器参数调试凭经验,导致系统性能不高。为了提高系统快速性和稳定性,提出并设计了模糊自适应PID控制器,可以对参数进行在线修正以使系统性能最优。可采用经验法调试的常规PID参数为初值,再用模糊化和近似推理等对参数进行在线修正,从而使系统性能达到最优。既具有模糊控制灵活性和适应性强的优点,又具有PID控制精度高的优势。通过设计模糊自适应PID控制器,以某二维随动转台系统为对象,在MATLAB环境中进行了仿真,并与常规PID控制器的性能进行了对比,结果表明模糊自适应PID控制器的响应特性优于传统的PID控制器,响应速度更快,稳态精度更高,为随动系统优化设计提供了依据。

The conventional PID controller parameters tuning depends on experience and can not satisfy the high performance. This paper designed a self-adaptive fuzzy PID controller. The parameters of this method can be modified online to make the system performance optimal. It used the conventional PID parameters for the initial value, revised the parameters real-time online through fuzzy and approximated reasoning, thereby enabling the system performance to achieve superiorly. It has not only the advantages of flexibility and adaptability of fuzzy control, but also better control precision of PID. In order to verify the self-adaptive fuzzy PID controller＇s performance, a two-dimensional servo system was taken as the object, which has carried on the simulation in the MATLAB environment and compared with the conventional PID controller＇s performance. The result shows that the self-adaptive fuzzy PID controller ＇s response is superior to the traditional PID controller, and the response speed is faster and more stable precision.