模糊自调节PID控制器的设计与仿真.docVIP

模糊自调节PID控制器的设计与仿真 摘 要 PID控制器由于其结构简单，方便易行而获得广泛的应用。但是，经典PID控制器采用“线性组合”形式产生的控制量，常引起快速性和超调量及准确性之间的矛盾，这就限制了PID控制器的使用范围。本文叙述了传统PID模型的常见缺陷,通过分析PID各环节在不同响应曲线时应有的变化趋势,以偏差e作为参数修正量,生成了各环节的系数建立了一种通用的PID控制器模型。它继承了PID不依赖于对象模型的优点，并且从根本上改进了经典PID固有缺陷。结合的特性，设计出了一种PID控制器，并分别用普通PID、非线性PID对其控制，通过系统仿真比较发现，本文提出的非线性PID不仅具有高鲁棒性和适应性特点，同时使调节时间更短响应速度更快。 关键词：非线性PID ；模糊控制；鲁棒性；Simulink Design and Simulation of Self Adjusted PID Controller Based on Fuzzy Logic ABSTRACT Classical PID controller has been widely used because of its single structure, convenient use, and so on. But PID controller has its limitation, where its linear combination brings the contradiction in speediness and overshoot, which limits PID controllers use. After discussing the defects of classical PID model and analyzing the variation tendency of each PID section in different responsive curves, the authors have created a coefficient model of each section by using the warp ′e′ as parameter correction, and established a universal nonlinear PID model. This model succeeds to the classical PIDs advantage of the independence on models and improves on the classical PIDs disadvantage. In this paper, considering the characteristic of the heating furnace, a kind of nonlinear PID controller has been put forward based on the nonlinear PID. Two kinds of manipulative methods are applied to heating furnace systems, they belong to classical PID ,nonlinear PID .From comparing with them，we can find that the nonlinear PID method which is presented by this paper, not only has the characteristic of high robustness and adaptability that nonlinear PID controller has，but also has higher corresponsive speed and shorter regulating time. Key words： Nonlinear PID; fuzzy control; robustness; Simulink 目 录 1　前言 1 1.1 课题的背景及研究意义 1 1.2 国内外发展概况 1 1.3 主要研究内容及目标 2 2　传统PID的结构及理论分析 3 2.1 控制理论的发展 3 2.2 PID控制器的结构及原理 3 2.2.1 PID控制器参数对控制性能的影响 4 2.2.2 PID控制算法及特点 5 2.3 参数整定基本方法 8 2.3.1 稳定边界法 9 2.3.2 响应曲线法 9 3　非线性模糊自调节PID的设计 11 3.1 非线性对象变增益特性及其对控制的影响 1