基于不完全微分的模糊PID控制的伺服系统设计

The Servo System Design Based on Incomplete Derivative Fuzzy PID Control

在伺服运动控制系统中,伺服电机作为一个时变、非线性、无精确模型的被控对象,由于其高频率的换向会产生位置跟随误差,严重影响了系统的实时性和控制精度。采用DSP芯片TMS320LF2812来实时检测伺服电机的位置运行情况,同时将基于不完全微分的模糊PID自适应控制引入了位置环。详细介绍了系统的组成及控制原理,初步完成了系统的硬件设计和软件设计,实现了基于不完全微分的模糊PID控制算法,仿真结果表明该算法的有效性。

In servo system, the servo motor as a controlled object of time-varying, nonlinear, no accurate model, be- cause of its high frequent commutation it produced position tracking error, which seriously affected the real-time and control precision of the system. Aimimg at the above problem, the DSP chip TMS320LF2812 was used to detect the real-time posi- tion of the servo motor, and the fuzzy PID adaptive control based on incomplete differential was introduced into the position loop. System structure and control principle were introduced in detail, system hardware design and software design were completed initially, and the fuzzy PID control algorithm based on incomplete differential was realized. The simulation results verified the efficiency of this method.