基于误差驱动的混合型模糊PD控制器设计

Design of the Error-driven Hybrid Fuzzy PD Controller

提出一种基于误差驱动的混合型模糊PD控制器。对其结构进行分析,并对模糊控制理论未解决的规则选取问题进行探讨。模糊控制器采用“1D-1D”的映射关系,结构简单,灵活性强;采用非线性输入输出映射关系控制曲线,仿真结果证明其性能优于传统线性规则。用波波夫稳定判据得到了控制器稳定的充分条件。

An error-driven hybrid fuzzy PD controller is presented, whose structure is analyzed. The unfathomed problems of how to optimize the fuzzy rule base are discussed. The proposed '1D-1D' mapping simplifies the controller and offers more flexibility. Simulation results indicate that the nonlinear control rules give more effective capability than the general used linear rules. Stability of the controller is guaranteed by Popov stability criterion.