鎽樿锛氶嚌灏�(du矛)甯歌(gu墨)PID鍦ㄥ嫉鍔涙帶鍒朵腑鎺у埗鍙冩暩(sh霉)闆ｄ互鏁村畾鐨勫晱椤�锛岃ō(sh猫)瑷�(j矛)鍑轰竴绋熀浜庢ā绯婃帶鍒跺師鐞嗙殑鑷仼鎳�(y墨ng)PID鎺у埗鍣�锛屾牴鎿�(j霉)鍋忓樊鍜屽亸宸畩鍖栫巼渚嗗(sh铆)鏅�(sh铆)瑾�(di脿o)鏁� 鍙冩暩(sh霉)銆傜稉(j墨ng)閬庡(sh铆)韪愯〃鏄�锛岄€欑ó妯＄硦鑷仼鎳�(y墨ng)PID姣斿父瑕�(gu墨)PID鎺у埗鍣ㄥ湪寮靛姏鎺у埗涓叿鏈夋洿濂界殑鎺у埗鐗规€с€� 闂�(gu膩n)閸佃锛氭ā绯婃帶鍒� 鑷仼鎳�(y墨ng)PID鎺у埗鍣� 寮靛姏鎺у埗 A Fuzzy Adaptive PID Controller in application of Tension control Jiang Sheng Liu Hui Kang (Information science and engineering college, Wuhan university of science and technology, 430081,Wuhan, Hubei, China) Abstract锛欼t is difficult to define the control parameter in tension by using the routine PID controller.So we design an adaptive PID controller based on the fuzzy principle.It can change the parameter according to the deviation and rate of change of deviation in real time.We find through the test that the adaptive PID controller has better control characteristics in the tesion control than the routine PID controller. Keywords锛歠uzzy control adaptive PID controller tension control 1 姒傝堪 寮靛姏鎺у埗绯荤当(t菕ng)鏄従(xi脿n)浠ｅ伐妤�(y猫)涓唬娉涙噳(y墨ng)鐢ㄧ殑鎺у埗绯荤当(t菕ng)涔嬩竴銆傚父瑕�(gu墨)PID鎺у埗鍥�?y脿n)妯楁兇锚鍞�?锛屽叿鏈夊彲浠ユ敼鍠勭郴绲�(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)鐗规€у拰绌�(w臎n)鎱�(t脿i)鐗规€х殑鍎�(y艒u)榛�(di菐n)锛屽彧瑕佹纰虹殑瑷�(sh猫)瀹氬叾鍙冩暩(sh霉)渚垮彲浠ュ(sh铆)鐝�(xi脿n)鍏舵帶鍒朵綔鐢�锛屽洜鑰岃寤ｆ硾鐨勬噳(y墨ng)鐢ㄤ簬寮靛姏鎺у埗绯荤当(t菕ng)涓€備絾鏄湪閫�(j矛n)琛屾澘甯跺嵎鍙栧嫉鍔涙帶鍒舵檪(sh铆)锛岀敱寮靛姏杓ユ娓�(c猫)鍑虹殑鏉垮付寮靛姏寰€寰€寰堥洠閬�(d谩)鍒扮簿纰�锛屽悓鏅�(sh铆)鐢变簬鍗峰彇涓嵎寰戠殑璁婂寲浠ュ強鍏朵粬鐨勪竴浜涗笉鍙娓�(c猫)鐨勫洜绱犵殑褰遍熆锛岀浉鎳�(y墨ng)鐨勫付渚嗕簡绯荤当(t菕ng)鍙冩暩(sh霉)鐨勮畩鍖�锛屽偝绲�(t菕ng)PID鎺у埗鍣ㄥ緢闆ｄ繚鎸佸嫉鍔涚殑鎭掑畾銆傚嫉鍔涙帶鍒朵笉绌�(w臎n)瀹氭檪(sh铆)锛屾澘甯跺鏄撳嚭鐝�(xi脿n)璺戝亸锛屽緸鑰屽皫(d菐o)鑷村嵎鍙栦笉鏁撮綂锛屾洿鍤�(y谩n)閲嶆檪(sh铆)灏�(d菐o)鑷存澗濂椼€佹柗甯剁瓑鐝�(xi脿n)璞�銆傞€欐檪(sh铆)锛屾垜鍊戣€冩叜鍒颁簡妯＄硦鎺у埗鐨勫劒(y艒u)榛�(di菐n)銆傛ā绯婃帶鍒跺彲浠ュ皣浜虹殑缍�(j墨ng)椹�(y脿n)銆佹櫤鎱х附绲�(ji茅)鎻愮厜鎴愭ā绯婅(gu墨)鍓囷紝妯′豢浜虹殑鎺у埗缍�(j墨ng)椹�(y脿n)閫�(j矛n)琛岀洿鎺ユ帹鐞�锛屽洜姝ゆ垜鍊戞彁鍑轰竴绋埄鐢ㄦā绯婇倧杓帹鐞嗗皪(du矛)PID鎺у埗鍣ㄧ殑鍙冩暩(sh霉)閫�(j矛n)琛屽湪绶氳嚜瑾�(di脿o)鏁寸殑鏂规硶锛屾妸妯＄硦閭忚集鎺ㄧ悊鍜孭ID鎺у埗绲�(ji茅)鍚堟垚妯＄硦鑷仼鎳�(y墨ng)PID鎺у埗锛屼娇鍏跺叿鏈夎嚜鍕�(d貌ng)杈ㄨ瓨(sh铆)琚帶閬庣▼鍙冩暩(sh霉)锛岃嚜鍕�(d貌ng)鏁村畾鎺у埗鍣ㄥ弮鏁�(sh霉)鐨勮兘鍔�锛岃兘澶犻仼鎳�(y墨ng)琚帶鍒堕亷绋嬩腑灏�(du矛)璞＄殑璁婂寲銆傛垜鍊戝皣鍏剁敤浜庡(sh铆)闅涚殑寮靛姏鍗峰彇鎺у埗涓�锛屽彇寰椾簡鍎�(y艒u)鑹殑鎺у埗鏁堟灉銆� 2 寮靛姏鎺у埗鐨勬ā鍨嬪強鏀归€�(j矛n)瑷�(sh猫)瑷�(j矛) 2锛�1寮靛姏鎺у埗鐨勬ā鍨� 鎵€璎傚嫉鍔涙帶鍒�锛屾槸鎸囧湪涓€鑸殑閫犵礄銆佸喍閲戠瓑鍗锋潗鎺у埗鍙婄敓鐢�(ch菐n)瑷�(sh猫)鍌欎腑锛屽湪鍗峰彇鏅�(sh铆)灏�(du矛)鏉愭枡鐨勫嫉绶婂害閫�(j矛n)琛屾帶鍒�銆傞亷澶х殑寮靛姏鏈�(hu矛)灏�(d菐o)鑷存潗鏂欑殑璁婂舰銆佺敋鑷虫柗瑁�锛岄亷灏忕殑寮靛姏鍙堟渻(hu矛)鍥�?y脿n)妯楁矙瓒�?d菐o)鑷磋窇鍋�锛涘嫉鍔涙帶鍒朵笉绌�(w臎n)涔熸渻(hu矛)閫犳垚鍒囨柗闀峰害涓嶇┅(w臎n)瀹氱瓑鐝�(xi脿n)璞�锛屽洜姝ゅ嫉鍔涙帶鍒剁殑濂藉鍦ㄥ嵎鍙栭亷绋嬩腑鍏锋湁鍗佸垎閲嶈鐨勬剰缇�銆� 鎴戝€戜互閸嶉媴鏉跨殑鍗峰彇鐐轰緥锛岄崓閶呮澘甯跺湪鍗峰彇閬庣▼涓鎷変几锛岃嫢鍏惰畩褰㈠湪褰堟€ц畩鍖栬寖鍦嶅収(n猫i)锛屽墖鍏跺叐绔殑寮靛姏閬靛惊铏庡厠瀹氬緥銆傛澘甯跺湪鍗峰彇鐨勯亷绋嬩腑锛屾澘甯剁殑浼稿睍鐜囩偤锛� 鐢变笂寮忓彲瑕嬶紝鍗峰彇閬庣▼涓澘甯舵墍鍙楀嫉鍔涙槸鐢卞墠鍚庡嵎鍙栬讥鐨勭浉灏�(du矛)杞�(zhu菐n)閫熷樊鐢�(ch菐n)鐢熺殑銆傝鎯充繚鎸佸嫉鍔涙帶鍒剁殑鎭掑畾锛屽氨瑕佷繚鎸佸ソ鍓嶅悗鍗峰彇杓ョ殑鐩稿皪(du矛)杞�(zhu菐n)閫熷樊鐨勭┅(w臎n)瀹�锛屽嵎鍙栬讥鐨勮綁(zhu菐n)閫熸槸鐢遍浕姗�(j墨)鐨勯浕娴佷締鎺у埗鐨�锛岄€�(j矛n)涓€姝ヨ锛岃淇濇寔鎭掑嫉鍔涙帶鍒�锛屽氨鏄淇濇寔鍓嶅悗鍗峰彇杓ラ浕姗�(j墨)鐨勭浉灏�(du矛)闆绘祦宸殑绌�(w臎n)瀹氾紝鍚屾檪(sh铆)閭勮鑰冩叜鍗峰緫璁婂寲鐨勫奖闊裤€傛湰鏂囧皣涓婂紡绋辩偤寮靛姏妯″瀷銆傜敱浜庢寮忔槸澶氳畩閲忓拰闈炵窔鎬х殑锛屽洜姝ゅ父瑕�(gu墨)鐨勬帶鍒舵柟娉曞緢闆ｅ(sh铆)鐝�(xi脿n)閲囩敤寮靛姏妯″瀷鐨勫嫉鍔涙帶鍒�銆� 2锛�2寮靛姏PID鎺у埗鐨勬敼閫�(j矛n)瑷�(sh猫)瑷�(j矛) PID鎺у埗鍏锋湁鍙互鏀瑰杽绯荤当(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)鐗规€у拰绌�(w臎n)鎱�(t脿i)鐗规€х殑鍎�(y艒u)榛�(di菐n)锛屼互鍙婄祼(ji茅)妲�(g貌u)绨″柈鐨勭壒榛�(di菐n)锛屽洜姝よ寤ｆ硾鐨勬噳(y墨ng)鐢ㄤ簬寮靛姏鎺у埗涓�銆傚嫉鍔涙帶鍒堕¨鍚嶆€濈京灏辨槸瑕佷繚璀夋澘甯跺湪鍗峰彇鏅�(sh铆)寮靛姏鐨勬亽瀹氫笉璁�锛岄嚌灏�(du矛)寮靛姏妯″瀷渚嗚锛屽氨鏄淇濊瓑鍓嶅悗鍗峰彇杓ョ殑鐩稿皪(du矛)杞�(zhu菐n)閫熷樊鐨勭┅(w臎n)瀹氥€傚偝绲�(t菕ng)鐨凱ID鎺у埗鏂规硶灏辨槸鎸夌収姝や竴瀹氱殑鎺у埗鎬ц兘瑕佹眰锛屾暣瀹氬嚭涓€绲勫浐瀹氱殑P銆両銆丏鍙冩暩(sh霉)锛屼絾鏄€欐ǎ鐨勫弮鏁�(sh霉)寰€寰€鏄嫊(d貌ng)鎱�(t脿i)鑸囬潨鎱�(t脿i)鎬ц兘鐨勪竴绋姌涓€傚湪鏉垮付鐨勫嵎鍙栭亷绋嬩腑锛岄毃钁楀嵎绛掑崐寰戠殑澧炲ぇ锛屽叾鎱ｆ€т篃瓒婁締瓒婂ぇ锛屼互鍙婂洜?y脿n)妞寸厡顑斻伀鍥朌(zhu菐n)鎻涜€屽垏鎻涢€熷害鏅�(sh铆)锛屽父瑕�(gu墨)PID绯荤当(t菕ng)鐨勬帶鍒舵晥鏋滃線寰€涓嶈兘閬�(d谩)鍒版渶浣炽€傞珨鐝�(xi脿n)鍦ㄥ(sh铆)闅涗腑锛屾澘甯跺湪鍗峰彇閬庣▼涓稉(j墨ng)甯稿嚭鐝�(xi脿n)璁婂舰锛岃窇鍋忔澗濂楁洿鍤�(y谩n)閲嶈€呮柗甯剁瓑鐝�(xi脿n)璞�锛屽毚(y谩n)閲嶇殑褰遍熆鐢熺敘(ch菐n)鐨勬甯搁亱(y霉n)琛�銆傛ā绯婃帶鍒跺彲浠ュ皣浜虹殑缍�(j墨ng)椹�(y脿n)銆佹櫤鎱х附绲�(ji茅)鎻愮厜鎴愭ā绯婅(gu墨)鍓�锛屾ā浠夸汉鐨勬帶鍒剁稉(j墨ng)椹�(y脿n)鑰屼笉渚濊炒灏�(du矛)璞＄殑妯″瀷閫�(j矛n)琛岀洿鎺ユ帹鐞嗐€傜偤浜嗘彁楂樺嫉鍔涙帶鍒剁殑绌�(w臎n)瀹氭€�锛屾垜鍊戝皣妯＄硦鎺ㄧ悊鑸囧父瑕�(gu墨)PID鎺у埗鐩哥祼(ji茅)鍚堣捣渚�锛屽埄鐢ㄦā绯婇倧杓帹鐞嗗皪(du矛)PID鎺у埗鍣ㄥ弮鏁�(sh霉)閫�(j矛n)琛屽湪绶氳嚜瑾�(di脿o)鏁达紝骞跺皣鍏舵噳(y墨ng)鐢ㄤ簬瀵�(sh铆)闅涚殑鎺у埗涓�銆� 3 妯＄硦鑷仼鎳�(y墨ng)PID鎺у埗鍣ㄧ殑瑷�(sh猫)瑷�(j矛) 3锛�1妯＄硦鑷仼鎳�(y墨ng)PID鎺у埗鍣ㄧ殑绲�(ji茅)妲�(g貌u) 妯＄硦鑷仼鎳�(y墨ng)PID鎺у埗鍣ㄤ富瑕佺敱鍙冩暩(sh霉)鍙(di脿o)鏁寸殑PID鎺у埗鍣ㄥ拰妯＄硦鎺ㄧ悊鍣ㄥ叐閮ㄥ垎绲勬垚锛屾ā绯� 4锛庝豢鐪熻垏鎬ц兘鍒嗘瀽 鏈郴绲�(t菕ng)鍦ㄧ稉(j墨ng)閬嶮ATLAB浠跨湡閬�(y霉n)琛屽悗锛岀郴绲�(t菕ng)宸ヤ綔绌�(w臎n)瀹�锛屾搷浣滄柟渚匡紝鑳藉鐛插緱婊挎剰鐨勬€ц兘鎸囨(bi膩o)銆備笅鍦栨槸鍦ㄥ柈浣嶉殠韬嶄俊铏�(h脿o)涓嬬殑甯歌(gu墨)PID鎺у埗鑸囨ā绯婅嚜閬╂噳(y墨ng)PID鎺у埗鍣ㄤ笅鐨勯熆鎳�(y墨ng)鏇茬窔銆傛槑椤ā绯婅嚜閬╂噳(y墨ng)PID鐨勬帶鍒舵柟寮忕嵅寰楃殑闊挎噳(y墨ng)鏇茬窔鍏锋湁杓冨ソ鐨勮窡闅ㄦ€�锛屼笖绌�(w臎n)鎱�(t脿i)绮惧害楂�锛岃秴瑾�(di脿o)閲忔槑椤純灏忥紝瑾�(di脿o)绡€(ji茅)鏅�(sh铆)闁撳緱鍒颁簡鏄庨’鏀瑰杽锛屽緸鑰屽叏闈㈢殑鏀瑰杽浜嗙郴绲�(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)鎬ц兘銆� 5锛庣附绲�(ji茅) 鏈郴绲�(t菕ng)鐨勬帶鍒跺皪(du矛)璞℃槸涓€瑕佹眰瀵�(sh铆)鏅�(sh铆)蹇€熸娓�(c猫)銆佸揩閫熼熆鎳�(y墨ng)鐨勭挵(hu谩n)绡€(ji茅)锛屽湪鍏舵帶鍒惰(gu墨)寰嬩笂鏈夊叾鑷繁鐨勭壒榛�(di菐n)銆傛湰鏂囧皣妯＄硦鎺ㄧ悊鎳�(y墨ng)鐢ㄤ簬鍏禤ID鍙冩暩(sh霉)鏁村畾涓紝浣垮緱瑭叉帶鍒跺櫒闆嗘ā绯婃帶鍒跺櫒鍜孭ID鎺у埗鍣ㄧ殑鍎�(y艒u)榛�(di菐n)浜庝竴韬�锛屾棦灏囧皥瀹剁稉(j墨ng)椹�(y脿n)鏈夋晥鐨勬噳(y墨ng)鐢ㄥ埌浜哖ID鍙冩暩(sh霉)瑾�(di脿o)绡€(ji茅)涓紝鏈変繚鎸佷簡鍌崇当(t菕ng)PID鎺у埗鍣ㄧ祼(ji茅)妲�(g貌u)绨″柈鐨勫劒(y艒u)榛�(di菐n)銆傛垜鍊戝皣鍏舵噳(y墨ng)鐢ㄤ簬榛冪煶灞卞姏閶呴媮鏉垮付鏈夐檺鍏徃鐨勯崓閶呯窔鍗峰彇姗�(j墨)鐨勬帶鍒舵敼閫犱腑锛岀稉(j墨ng)閬庡崐骞村鐨勯亱(y霉n)琛�锛岀敱浜庡伐钘濋€熷害璁婂寲鎵€寮曡捣鐨勬柗甯跺拰鏉惧璺戝亸鐝�(xi脿n)璞″ぇ澶ф笡灏�锛屽嵎鍙栬唱(zh矛)閲忓ぇ鐐烘彁楂�銆傚(sh铆)椹�(y脿n)鐮旂┒鍙婂伐绋嬪(sh铆)韪愰兘琛ㄦ槑鍦ㄥ父瑕�(gu墨)PID鎺у埗鍣ㄤ腑鍔犲叆妯＄硦鍙冩暩(sh霉)鑷暣瀹氬悗锛岀郴绲�(t菕ng)鐨勬帶鍒舵€ц兘寰楀埌浜嗗緢澶х殑鏀瑰杽锛屽洜姝よ┎鏂规鍦ㄥ嫉鍔涘嵎鍙栨帶鍒朵腑鍏锋湁鑹ソ鐨勬噳(y墨ng)鐢ㄥ墠鏅�銆� 鍙冭€冩枃鐛�(xi脿n) [1]鏉庡弸鍠�锛岀瓑锛屾ā绯婃帶鍒剁悊璜栧強鍏跺湪閬庣▼鎺у埗涓殑鎳�(y墨ng)鐢╗M],鍖椾含锛屽湅闃插伐妤�(y猫)鍑虹増绀�锛�1993銆� [2]闄舵案鑿�锛岀瓑锛屾柊鍨婸ID鎺у埗鍙婂叾鎳�(y墨ng)鐢╗M]锛屽寳浜細姗�(j墨)姊板伐妤�(y猫)鍑虹増绀撅紝1998銆� [3]钄¤嚜鑸堬紝鏅鸿兘鎺у埗锛嶅熀绀�(ch菙)鑸囨噳(y墨ng)鐢╗M]锛屽寳浜�:鍦嬮槻宸ユキ(y猫)鍑虹増绀撅紝1998銆� [4]琚侀渿鏉憋紝鑷仼鎳�(y墨ng)鎺у埗鐞嗚珫鍙婂叾鎳�(y墨ng)鐢╗M],涓婃捣锛岃彲鏉卞斧鑼冨ぇ瀛�(xu茅)鍑虹増绀撅紝1986銆� 浣滆€呯啊浠嬶細钄ｅ嫕锛�1980~锛�锛岀敺锛屾箹鍖楁婕汉锛屾婕㈢鎶€澶у(xu茅)淇℃伅绉戝(xu茅)鑸囧伐绋嬪(xu茅)闄㈢ⅸ澹爺绌剁敓锛岀爺绌舵柟鍚戯細闆绘埃鍌冲嫊(d貌ng)銆佹櫤鑳芥帶鍒�銆傚妷鎯犲悍锛�1963~锛�锛岀敺锛屾箹鍗楁迹婧愪汉锛岀ⅸ澹�锛屾婕㈢鎶€澶у(xu茅)淇℃伅绉戝(xu茅)鑸囧伐绋嬪(xu茅)闄㈡暀鎺�锛屼富瑕佸緸浜嬪偝鍕�(d貌ng)鑷嫊(d貌ng)鍖栧強渚涢厤闆荤郴绲�(t菕ng)鐨勬暀瀛�(xu茅)绉戠爺宸ヤ綔銆� 鍩洪噾闋�(xi脿ng)鐩細鍦嬪鑷劧绉戝(xu茅)鍩洪噾锛堢法铏�(h脿o)60074032锛夎硣鍔╅爡(xi脿ng)鐩€�