基于模糊PID的直流力矩电机控制的策略的研究1.docVIP

基于模糊PID的直流力矩电机控制策略研究 张艳1，曹洪瑞1,2，张淑梅1 （1. 中国科学院 长春光学精密机械与物理研究所, 吉林, 长春 130033； 2. 中国科学院大学, 北京 100039） 摘 要：直流力矩电机以其较高的精度和较小的体积功耗等特点，广泛应用于伺服控制系统中。由于实际控制过程中诸多非线性、随机性因素的存在，常导致无法得到准确的被控对象数学模型，加之外界的扰动也会对被控系统造成严重的影响，这种情况下使用常规的PID控制器往往不能获得令人满意的控制效果。为弥补常规PID控制器的不足，克服外界因素影响，保证系统的正常运行。本文提出一种将模糊理论与PID控制技术相结合的控制方法。本文分析了模糊控制和常规PID控制的特点，并对常规PID和模糊PID复合控制算法构建双闭环调速系统模型，进行仿真分析和实际转速控制实验。实验结果显示，相比于常规PID控制器，模糊PID控制器获得的超调量降低了6%，上升时间缩短了8.6%，调节时间缩短了6.7%，并且在被控对象参数和结构发生较大变化时，维持电机调速系统稳定性的能力大大加强。与常规PID控制相比，本文提出的控制算法在动态特性和稳定性方面具有较明显的优势。 关键词：直流力矩电机；转速控制；PID；模糊控制 中图分类号：TP394.1；TH691.9文献标识码：A DC torque motor based on fuzzy PID control strategy research Zhang Yan1, Cao Hongrui1,2, Zhang Shumei1 (1. Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; 2. University of Chinese Academy of Sciences, Beijing 100039, China） Abstract:Dc torque motorhigh precision and small volume power consumption and so on, are widely used in the servo control system.Due to the non-linearity, randomness factors in the process of actual control, we always cant get the accurate mathematical model of controlled object and the disturbancesfrom outside may also cause serious influence to the controlled system, in this case using the conventional PID controller often cannot get satisfactory control effect.To make up for the shortage of the conventional PID controller, and overcome the outside factors, ensure the normal operation of the system. This paperpresents a fuzzy theory combine with PID control technology and gets a new control method.This paper analyses the characteristics of fuzzy control and conventional PID control, and the conventional PID and fuzzy PID compound control algorithm to build the double closed loop speed control system model, make simulation analysis and actual speed control experiment.Experimental results show that, compared with the conventional PID controller, fuzzy PID controller for the amount of overshoot was reduced by 6%, rise time sho