步进电机驱动系统模糊PID仿真分析

Fuzzy PID Simulation Analysis of Stepper Motor Drive System

步进电机驱动螺母螺杆机构实现叉车离合器的自动离合,采用优化控制算法以达到离合器快速起动和精准定位的理想效果。针对该驱动系统存在非线性、参数不确定性的特点,建立整个系统的传递函数数学模型,采用模糊自整定PID算法,并用MATLAB进行仿真研究。结果表明:模糊自整定PID较常规PID具有更优的鲁棒性和自适应性,突破了需要编制大量程序的传统方法,用模糊推理的方法可在动态过程中改变PID的参数,该算法为叉车实现自动离合提供了一定的理论依据。

Stepper motor drives the nut screw mechanism to achieve forklift automatic clutch. The optimized control algorithm is adopted to achieve the desired effect of the fast-start and fine accurate lacalization for the clutch. Referring to the non- linearity, parameter uncertainty of the drive system, the transfer funetion mathematical model of the system is established and fuzzy self-tuning PID algorithm is adopted and simulated with MATLAB. The result of simulation shows that the fuzzy self- tuning PID has better robustness and adaptability than conventional PID, which breaks through the traditional method, and needs a lot of program, and the PID parameters can be changed in the dynamic process by using fuzzy inference. The algorithm provides some theories for the automatic clutch of the forklifts.