交流伺服系统的模糊自适应PID控制

Fuzzy Adaptive PID Control for AC Servo System

针对交流永磁伺服系统存在参数不确定和非线性数学模型不确定的特征,提出一种交流永磁伺服系统的模糊自适应PID控制方法。模糊自适应控制是通过总结控制经验、编写控制法则来设计控制器的控制方法,不依赖系统的精确模型。首先在建立合适的模糊规则表后,计算出各模糊子集的隶属函数,再由隶属函数求出各个参数在不同时刻的隶属度,然后运用模糊合成推理PID参数的模糊矩阵求得PID控制系统的控制参数。所得系统控制规则简便易懂,适用性和鲁棒性强,对于非线性时变复杂系统模型能以较简单的方式进行适时参数调整和控制,能获得良好的控制效果。最后进行了仿真研究,结果验证了控制方法的可行性。

Aiming at the characteristics of parameter uncertainties and nonlinear mathematical models uncertainty in permanent magnet AC servo systems, the Fuzzy Adaptive PID Control method is proposed for Permanent Magnet AC Servo system. Fuzzy Adaptive Control summed up the control experience and wrote the control law to design the control method of the controllers, and it did not rely on an accurate model of the system. First, a suitable fuzzy rule table might be established to calculate the membership function of each fuzzy set. Then, the various parameters of the membership at different times through the membership function were obtained. At last the fuzzy matrix of fuzzy synthetic reasoning PID parameters was used to get the control parameters of the PID control system. The system gotten was easy to read its control rules and has strong applicability and robustness. A simple way could be used to adjust and control the timely parameters for time-varying nonlinear complex systems, so a good control performance could be gotten. The final simulation study results show that the proposed method is feasible.