基于simulink的模糊自适应PID三闭环控制设计及仿真

Design and Simulation of Fuzzy Self-adaption PID Three Closed Loop Control Based on Simulink

针对普通PID三闭环控制容易发生超调、且在负载变化或外加扰动的情况下无法实现对伺服电机精确控制的缺点,本研究提出了将普通PID三闭环控制中的位置环PID控制器用模糊自适应PID控制器替代的模糊自适应PID三闭环控制方法,并在Matlab的Simulink模块中搭建了模糊自适应PID三闭环控制模型,通过施加不同的阶跃信号,发现随着阶跃信号幅值的增加,普通PID三闭环控制调节时间增加,超调量增加,且阶跃信号超过20°时系统发生震荡,而模糊自适应PID三闭环控制调节时间基本不变,超调量为0,在同样的阶跃信号激励下系统不会震荡。通过仿真实验得到模糊自适应PID三闭环控制方法具有超调量小、调节时间稳定、鲁棒性较强的优点。

Aiming at the shortcomings of ordinary PID three closed loop control,it is easy to overshoot and can not achieve precise control of servo motor under load change or external disturbance.This study proposes to use fuzzy self-adaption PID controller replacing position loop PID controller in ordinary PID three closed loop control.And the fuzzy self-adaption PID three closed loop control model is built in the Simulink module of Matlab.By applying different step signals,it is found that with the increase of the step signal amplitude,the adjustment time of the ordinary PID three closed loop control increases,the overshoot increases,and the system oscillates when the step signal exceeds 20°,while adjustment time of the fuzzy self-adaption PID three closed loop control is basically the same,and the overshoot is 0.Under the same step signal,the system will not oscillate.The fuzzy self-adaption PID three closed loop control method has the advantages of small overshoot,stable regulation time and strong robustness through simulation experiments.