模糊自整定PID控制器的设计.doc

哈尔滨工业大学工学硕士学位论文 哈尔滨理工大学学士学位论文 - PAGE II - -  PAGE II - 模糊自整定PID控制器的设计 摘要 随着控制对象变得复杂，应用常规PID控制，精度和鲁棒性降低。本文设计一种模糊自调整PID控制器，以提高控制精度。我们要求简单却具有鲁棒性的控制算法来实现控制。这里主要是在模糊PID控制领域进行研究。当控制对象很复杂的情况下，常规PID控制器已经不再适用了，为提高对复杂系统的控制性能，本文介绍了一种方法设计模糊PID控制器。将PID控制与Fuzzy控制的简便性、灵活性以及鲁棒性融为一体，构造了一个模糊自整定PID控制器。并且为了提高控制的精度，本文进一步改进了模糊自调整PID控制器，此控制器的比例系数、积分系数可根据模糊推理规则进行在线调整。 并利用MATLAB语言结合具体实例方便而快速地实现了该控制器的计算机仿真。仿真结果表明：该控制方法提高了系统的动、静态特性，使系统获得了较好的性能。也就是说，该控制方法对于此类系统控制是有效的。 文中还给出所提模糊PID控制与常规PID控制和普通模糊控制比较实验结果，与常规PID控制和普通模糊控制实验的结果进行比较表明，此方法具有方法简单、控制快速、准确的特点，从而提高了控制性能。 关键词　模糊逻辑控制；隶属函数；PI控制；自调整；仿真 The Design of Fuzzy PID Controller Abstract When the controlled objects become complicate, the control accuracy and robustness of the normal PID decrease. The main scope of this paper is to investigate the research of fuzzy PID control. We propose a simple but robust program for control. This paper presents a method to design the fuzzy PID control in order to improve the system performance for complex systems in which the normal PID controller is not suitable in such case. A self-adjusting PID controller, which has simpler structure and higher robustness is built when Fuzzy logic controller and PID controller are combined together appropriately. To increase the accuracy，this paper designed an improved FLC(Fuzzy Logic Controller) for self-tuning PID control. Where the proportional, integral and differential gains are tuned online based on fuzzy inference rules. A simulation model of typical system is realized successfully with MATLAB/ SIMULINK .The results of simulation show that the controller has improved dynamic and static performance of control system and has obtained good control quality .That is to say，this control method is effective on this system. And the simulation comparison of this scheme with traditional PID control and common FLC demonstrates that this scheme is simpler, more rapid and accurate. Keywords FLC(Fuzzy logic control); Membership functions; PI control; self-tuning Simulation 不要删