提高直线电机运动柔顺性的变论域模糊PID控制方法

Method of Variable Universe Fuzzy PID Control to Improve Flexibility of Permanent Magnet Synchronous Linear Motor

针对永磁同步直线电机中存在的非线性、时变性、强耦合性和外部负载不确定性等特点,提出一种变论域模糊PID控制方法,通过模糊控制在线调整论域伸缩因子,改变模糊PID控制论域大小,以有效避免函数型伸缩因子结构与参数难以确定等问题。利用Simulink对永磁同步直线电机控制系统进行仿真,比较传统PID、模糊PID与变论域模糊PID控制效果发现,变论域模糊PID控制具有更好的动态性能和较强的鲁棒性。

According to the nonlinear, time-varying, strong coupling and the external load uncertainties existing in PMLSM,a variable universe fuzzy PID control method is proposed. In order to avoid the problems of scale factor＇s function such as structure, parameters are difficult to determine, scaling factor of domain is adjusted online, and the fuzzy PID control theory domain size is changed. The simulation experiment of permanent magnet synchronous linear motor control system is made to compare traditional PID,fuzzy P1D and variable universe fuzzy PID effect by Simulink,the simulation results show that the variable universe fuzzy PID control has better dynamic performance and strong robustness.