复合型非线性控制器在时变非线性系统控制中的研究及应用

Study on Fuzzy Composite PID Control for Time-Varying Non-Linear System and Its Application

在对增量式PID研究和改进基础上,以增益的方式引入模糊非线性控制技术,构建了一种新型的复合型模糊非线性增益PID控制器。这种复合型控制器在误差进入不同范围时,分别具有全速、积分分离、变速积分和稳态控制等控制特性,并根据误差大小采用非线性增益调节方式,有效地克服了控制过程不同阶段中出现的响应失控、收敛慢以及波动的现象。实际应用表明,这种复合型控制器在模拟风浪对防波堤模型动态激励控制过程中,达到了响应迅速、抗干扰能力强、鲁棒性能好的控制效果。

On the basis of research and improvement of incremental PID and introducing fuzzy nonlinear control technology,a new type of composite fuzzy non-linear gain controller is built.This controller has different characteristics,which are full speed,integral separation,variable speed integral and steady state control when the error into a different range.According to the size of the error,using the non-linear gain adjustment method,some phenomenons such as overshoot control,slow convergence and fluctuation,are effectively overcome in different stages of the control process.Practical application shows that this composite controller has quick response,strong anti-interference ability and good robustness in the process of the breakwater dynamic excitation for simulation model of storm waves.