一种非线性PD控制曲面的简易构造方法

A Simple Construct Method for Nonlinear PD Control Surface

在简要分析模糊控制原理的基础上,提出了一种非线性PD控制曲面的简易构造方法。首先在相平面上构建一对或两对原点对称的规则点,这些规则点对系统的控制作用可以通过简单的凸组合和叠加计算得到。进一步对规则点的参数和控制曲面特征量之间的关系进行分析,得到控制参数调试准则。仿真结果表明:该方法可以对不同控制性能进行折衷。

Based on briefly analyzing the theory of the fuzzy control, a simple method to construct control sur- face of nonlinear PD controller was proposed, in which, having one or two couple of rule points constructed in phase plane which are symmetric to the origin, and the control action of those rule points can be calculated by the mean of convex combination and superposition. Through further analyzing the relationship between the pa- rameters of those rule points and the characteristics of control surface, the rules of parameter testing were ob- tained. Simulation results indicate that, this method can compromise the performance confliction.