基于模糊理论的参数自适应PID智能控制系统

The Intelligent Control System of Parameter Self-adaptive PID Based on Fuzzy Theory

针对平地机进行刮平作业时无法实现稳定恒速控制的问题,提出了基于模糊理论的参数自适应PID算法的行走智能控制系统,并完成了将该算法应用在平地机的控制系统中协调解决作业时油门大小、档位和恒速控制问题。同时,为验证参数自适应PID算法对整机运行参数实时监控的有效性和可靠性,系统采用单片机作为控制器,通过Mat Lab软件的Simulink仿真,分别对平地机作业恒速控制设定干扰信号、参数自适应过程性能以及不加PID、加PID、自适应模糊PID3种控制方式进行了恒速控制效果对比分析。测试显示:该系统响应时间短、速度较快,具有良好的工作稳定性和可靠性,能够满足设计要求。

In view of the grader for constant speed stability control cannot achieve the scraping operation, and the intelligent control system of walking grader parameter adaptive PID algorithm is put forward based on fuzzy theory, and the application of the algorithm in the control system of grader in coordination to solve the job when the throttle size, gear and constant speed control. At the same time, as the parameter adaptive PID algorithm to verify the operation parameters of real-time monitoring of the effectiveness and reliability, system adopts MCU as controller, through the Simulink simulation software Matlab, respectively on flat machine constant speed control setting jamming signal and parameter adaptive process performance and PID, PID, PID three kinds of adaptive fuzzy control for the constant speed control effect contrast analysis, tests show that the response time is short, fast response speed, good stability and reliability, can meet the design requirements.