基于PMAC的模糊自整定PID算法设计

Design of Fuzzy Self-regulation PID Algorithm Based on PMAC

在工业控制系统优化设计中,可编程多轴运动控制器(Programmable multi-axes controller,PMAC)系统采用脉冲+方向的控制方法,控制精度要求高,对稳态特性及动态特性要求很严格,其工作环境较为复杂,固定的PID参数工作适应性差,很难满足控制要求。为提高控制精度和性能,提出采用PMAC的PID控制算法及参数整定,设计出一种结合PMAC的自适应PID控制算法,对环境条件的变化,对负载变化和系统干扰有一定的适应性,且能自动矫正控制动作,满足系统控制要求。通过PMAC运动控制器的嵌入式PLC程序实现算法,仿真结果表明,自整定模糊PID控制算法很好地改善了伺服系统的稳定性和静、动态特性,达到了很好的控制效果。

Programmable multi-axes controller（PMAC） uses the impulse-direction control method,which needs high control precision and requires strict stabilization and dynamic characteristic.In view of its complex working circumstance and the bad adaptability of the fixed parameter PID control method,often the control demand is hard to fulfill.Therefore,the paper studied the PID control algorithm and correlated parameter method for the PMAC,and designed a self-adaptive control algorithm based on PID for PMAC.With the ability recognizing circumstance change,adapting the load change and the disturbance modifying the motion of the controller automatically,it works perfectly for the system.Using PMAC＇ s PLC program with the algorithm to achieve the simulation,the results show that the fuzzy self-regulation algorithm can improve the stabilization static and dynamic characteristics of the servo system and achieve perfect control effect.