鎽樿锛�甯歌(gu墨)鐨凱ID瑾�(di脿o)绡€(ji茅)鍣ㄧ殑鍎�(y艒u)榛�(di菐n)鏈夌畻娉曠啊鍠�銆侀妫掓€уソ銆佸彲闈犳€ч珮绛夛紝鍥犳琚唬娉涙噳(y墨ng)鐢ㄤ簬宸ユキ(y猫)閬庣▼鎺у埗涓�銆備絾鏄暥(d膩ng)閬囧埌闈炵窔鎬с€佹檪璁婃€х殑绯荤当(t菕ng)鐨勬檪鍊�锛屽偝绲�(t菕ng)PID鎺у埗鐢变簬鍏跺弮鏁�(sh霉)鏄浐瀹氱劇娉曟敼璁婄殑鎵€浠ュ緢闆ｉ仈(d谩)鍒版豢鎰忕殑鎺у埗鏁堟灉銆傜偤浜嗚В姹洪€欎竴鍟忛锛屽彲浠ュ皣妯＄硦鎺у埗鐞嗚珫鑸嘝ID鎺у埗绠楁硶绲�(ji茅)鍚堣捣渚嗘(g貌u)鎴愭ā绯婅嚜閬╂噳(y墨ng)PID鎺у埗鍣�锛岃畵PID鍙冩暩(sh霉)闅ㄨ憲瑕佹眰涓嶅悓寰炶€屽(sh铆)鐝�(xi脿n)鍦ㄧ窔瑾�(di脿o)鏁达紝鏈€绲傞仈(d谩)鍒板皪涓嶅悓鎯呮硜浣跨敤涓嶅悓鍙冩暩(sh霉)鐨勭洰鐨�锛屽苟涓斿湪MATLAB杌熶欢鐠�(hu谩n)澧冧笅閫�(j矛n)琛屼簡鐮旂┒鑸囦豢鐪�銆�

浠跨湡绲�(ji茅)鏋滆〃鏄庯細鍙冩暩(sh霉)鍙(di脿o)鏁寸殑妯＄硦鑷仼鎳�(y墨ng)PID鎺у埗鍣ㄥ湪澶у鏁�(sh霉)鐨勬帶鍒剁郴绲�(t菕ng)涓兘鑳藉彇寰椾簡姣斿父瑕�(gu墨)PID鎺у埗鍣ㄦ洿濂界殑鎺у埗鏁堟灉锛岀郴绲�(t菕ng)瓒呰(di脿o)閲忔洿灏忥紝鍚屾檪榄鎬ф寚妯�(bi膩o)涔熻兘寰楀埌閫�(j矛n)涓€姝ョ殑鎻愰珮銆�

闂�(gu膩n)閸佃锛�妯＄硦鎺у埗锛涜嚜閬╂噳(y墨ng)锛汸ID锛涗豢鐪�

涓湒鍒嗛铏燂細TP273     鏂囩嵒(xi脿n)妯�(bi膩o)璀樼⒓锛欰銆€銆€銆€銆€鏂囩珷绶ㄨ櫉锛�

      The emulation of self-adaptive fuzzy PID control system based on Matlab

                Zhang De-chang  锛�   Yu Shao-juan

         锛圱aiyuan university of science and technology锛孴aiyuan锛�030024锛�

Abstract锛歍he conventional PID controller is usually have some advantage as simple algorithm锛実ood robustness and high reliability锛宎nd so on锛嶣ut the conventional PID controller is not good at in the type of time-varying nonlinear systems锛嶴o a new self-adaptive fuzzy PID controller is presented using the fuzzy technology and PID controller锛寃hich realizing the self-adaptive fuzzy PID control system in Simulink environment with a particular case锛嶴imulation results show the self-adaptive fuzzy PID control has advantages of flexibility control锛宻mall overshoot and strong robustness and so on锛�

Keywords锛歠uzzy control锛泂elf-adaptive锛汸ID锛泂imulation

1寮曡█

绲�(ji茅)妲�(g貌u)绨″柈銆佽(di脿o)瑭︽柟渚跨殑PID鎺у埗鏄€氬父鎳�(y墨ng)鐢ㄨ純鐐哄唬娉涚殑鎺у埗褰㈠紡锛岃€屼笖閫欑ó鏂瑰紡鏈夌畻娉曠啊鍠�銆侀妫掓€уソ绛夊劒(y艒u)榛�(di菐n)锛屼絾鏄敱浜庡叾鍚屾檪涔熸櫘閬嶅瓨鍦ㄩ潪绶氭€�銆佸弮鏁�(sh霉)鏅傝畩鎬у拰妯″瀷鐨勪笉纰哄畾鎬х瓑缂洪粸(di菐n)锛岄€欏氨浣垮緱甯歌(gu墨)鐨凱ID鎺у埗闆ｄ互閬�(d谩)鍒伴爯(y霉)鏈熺殑鏁堟灉銆傝€屾ā绯婃帶鍒跺叿鏈夊皪鏁�(sh霉)瀛�(xu茅)妯″瀷鐨勪緷璩存€у急鐨勫劒(y艒u)榛�(di菐n),鍥犳涓嶉渶瑕佸皪閬庣▼寤虹珛绮剧⒑鐨勬暩(sh霉)瀛�(xu茅)妯″瀷,鍙鎶婃ā绯婅(gu墨)鍓�銆佽⿻鍍规寚妯�(bi膩o)浠ュ強鍒濆PID鍙冩暩(sh霉)绛変綔鐐虹煡璀樺瓨鍏ュ埌鐭ヨ瓨搴腑,灏卞彲浠ユ牴鎿�(j霉)鎺у埗绯荤当(t菕ng)鐨勫(sh铆)闅涙儏娉�,閫氶亷鐭ヨ瓨鍙婃ā绯婃帹鐞嗗(sh铆)鐝�(xi脿n)灏峆ID鍙冩暩(sh霉)鐨勫湪绶氬(sh铆)鏅傝(di脿o)鏁淬€�

鏈枃灏囨ā绯婃帶鍒跺拰PID鎺у埗绲�(ji茅)鍚堣捣渚�锛屾(g貌u)寤轰簡鑷仼鎳�(y墨ng)妯＄硦鎺у埗鍣紝瀵�(sh铆)鐝�(xi脿n)浜嗗皪PID鍙冩暩(sh霉)鐨勫(sh铆)鏅傚湪绶氳(di脿o)鏁�锛屼互閫�(j矛n)涓€姝ュ寮�(qi谩ng)绯荤当(t菕ng)灏嶄笉纰哄畾鍥犵礌鐨勯仼鎳�(y墨ng)鎬э紝骞剁敤Matlab閫�(j矛n)琛屼簡浠跨湡銆傜悊璜栧垎鏋愯垏浠跨湡绲�(ji茅)鏋滆〃鏄庯紝鑷仼鎳�(y墨ng)妯＄硦PID鎺у埗鍦ㄩ妫掓€у拰绯荤当(t菕ng)瓒呰(di脿o)閲忔柟闈㈤兘鍏锋湁姣斿偝绲�(t菕ng)鎺у埗鏂瑰紡鏇村ソ鐨勬帶鍒舵€ц兘锛岃兘鍙栧緱鏇存豢鎰忕殑鎺у埗鏁堟灉銆�

2鑷仼鎳�(y墨ng)妯＄硦鎺у埗鍣ㄧ殑瑷�(sh猫)瑷�(j矛)

2.1鑷仼鎳�(y墨ng)妯＄硦PID鎺у埗鍣ㄧ祼(ji茅)妲�(g貌u)瑷�(sh猫)瑷�(j矛)

鑷仼鎳�(y墨ng)妯＄硦PID鎺у埗绯荤当(t菕ng)鏄互甯歌(gu墨)鐨凱ID鎺у埗鐐哄熀绀�(ch菙)锛岄噰鐢ㄦā绯婃帹鐞�锛屽皣琚帶閲忕殑鍋忓樊e鍙婂亸宸畩鍖栫巼ec浣滅偤浜岀董妯＄硦鎺у埗鍣ㄧ殑杓稿叆璁婇噺锛屽悓鏅傞€氶亷妯＄硦鎺у埗鍣ㄧ殑杓稿嚭璁婇噺锛屽埄鐢ㄦā绯婃帶鍒惰(gu墨)寰嬪皪PID鍙冩暩(sh霉)閫�(j矛n)琛屽湪绶氳嚜鏁村畾銆傛ā绯婃帶鍒跺櫒鐨勮ō(sh猫)瑷�(j矛)灏囨槸瑭茬郴绲�(t菕ng)瑷�(sh猫)瑷�(j矛)鐨勬牳蹇冨収(n猫i)瀹�锛屽洜?y脿n)妯楊弨鏆劇闂硅嫰浣戠粖鎳�?img alt="" src="http://fs10.chuandong.com/upload/images/20121030/5F967CBE04A2D4CB.jpg" style="width: 97px; height: 28px" />鐨勯伕鍙栵紝閫�(j矛n)鑰屽奖闊垮埌绯荤当(t菕ng)鐨勬帶鍒剁簿搴�銆傝嚜閬╂噳(y墨ng)妯＄硦PID鎺у埗鍣ㄧ殑绲�(ji茅)妲�(g貌u)妗嗗湒濡傚湒1鎵€绀�銆�

妯＄硦鎺у埗绯荤当(t菕ng)鍜屽叾瀹冩帶鍒剁郴绲�(t菕ng)鏈€澶х殑鍗€(q奴)鍒ユ槸妯＄硦鎺у埗鍣紝閫欎篃鏄ā绯婃帶鍒剁郴绲�(t菕ng)鐨勬牳蹇冮儴鍒�,鏍规摎(j霉)妯＄硦鎺у埗鍣ㄧ殑瑷�(sh猫)瑷�(j矛)鍘熺悊锛屾寜鍦�1鎵€绀烘帶鍒剁郴绲�(t菕ng)绲�(ji茅)妲�(g貌u)閫�(j矛n)琛屾ā绯婅嚜閬╂噳(y墨ng)PID鎺у埗鍣ㄧ殑瑷�(sh猫)瑷�(j矛)銆傛牴鎿�(j霉)妯＄硦鎺у埗鍘熺悊鍏堟壘鍒颁笁鍊嬪弮鏁�(sh霉)鑸囪宸甧鍜岃宸畩鍖栫巼ec涔嬮枔鐨勬ā绯婇棞(gu膩n)绯绘槸瑭叉帶鍒剁郴绲�(t菕ng)瑷�(sh猫)瑷�(j矛)鐨勯棞(gu膩n)閸�,鑰屼笖鍦ㄧ郴绲�(t菕ng)閬�(y霉n)琛屼腑瑕佷笉鏂锋娓琫鍜宔c,骞跺皪涓夊€嬪弮鏁�(sh霉)閫�(j矛n)琛屽(sh铆)鏅傚湪绶氫慨姝ｄ互婊胯冻涓嶅悓宸ユ硜涓嬪皪鍙冩暩(sh霉)鐨勪笉鍚岃姹�,鏈€绲傜嵅寰楄壇濂界殑鍕�銆侀潨鎱�(t脿i)鎺у埗鎬ц兘銆�

2.2纰哄畾妯＄硦鎺у埗鍣ㄧ殑绲�(ji茅)妲�(g貌u)

鍩轰簬灏嶇郴绲�(t菕ng)浣滃嚭浠ヤ笂鍒嗘瀽,鎴戝€戝彲浠ラ噰鐢ㄥ叐杓稿叆銆佷笁杓稿嚭鐨勬ā绯婃帶鍒跺櫒褰㈠紡,鍗冲皣瑾ゅ樊鍜岃宸殑璁婂寲鐜噀,ec鍒嗗垾浣滅偤鎺у埗鍣ㄧ殑杓稿叆,灏囨瘮渚�銆佺⿳鍒�銆佸井鍒嗙郴鏁�(sh霉)銆�鍒嗗垾浣滅偤PID鎺у埗鍣ㄧ殑杓稿嚭銆�

2.3杓稿叆杓稿嚭璁婇噺鐨勭⒑绔�

鍙互鍒嗗垾瑷�(sh猫)瀹氳几鍏ヨ宸甧鍜岃宸畩鍖栫巼ec鐨勮獮瑷€璁婇噺鐐篍銆丒C,鍏╄€呯殑璜栧煙鍧囩偤{-3,-2,-1,0,1,2,3},鐩告噳(y墨ng)鐨勮獮瑷€鍊奸兘鐐簕璨�(f霉)澶�(NB),璨�(f霉)涓�(NM),璨�(f霉)灏�(NS),闆�(ZO),姝ｅ皬(PS),姝ｄ腑(PM),姝ｅぇ(PB)};杓稿嚭姣斾緥绯绘暩(sh霉)銆佺⿳鍒嗙郴鏁�(sh霉)銆佸井鍒嗙郴鏁�(sh霉)鐨勮獮瑷€璁婇噺鍒嗗垾鐐�,涓夎€呯殑璜栧煙閮界偤{-3锛�-2锛�-1锛�0,1,2,3},鐩告噳(y墨ng)鐨勮獮瑷€鍊肩偤{璨�(f霉)澶�(NB),璨�(f霉)涓�(NM),璨�(f霉)灏�(NS),闆�(ZO),姝ｅ皬(PS),姝ｄ腑(PM),姝ｅぇ(PB)}銆傚悓鏅傞噰鐢ㄤ笁瑙掑嚱鏁�(sh霉)浣滅偤杓稿叆杓稿嚭璁婇噺鐨勯毟灞害鍑芥暩(sh霉)銆�

2.4妯＄硦鎺у埗鍣ㄨ(gu墨)鍓囪ō(sh猫)瑷�(j矛)

閫氬父锛孭ID鎺у埗鍣ㄧ殑鎺у埗绠楀紡鐐猴細

鏍规摎(j霉)PID鍙冩暩(sh霉)鐨勬帶鍒朵綔鐢ㄥ拰涓嶅悓鍋忓樊e鍙婂亸宸畩鍖杄c灏峆ID鍙冩暩(sh霉)鐨勮姹傦紝灏�绲﹀嚭浜嗗涓嬬殑鏁村畾鍘熷墖锛�

锛�1锛夌暥(d膩ng)鍋忓樊.杓冨ぇ鏅俥鐐轰簡鎻愰珮闊挎噳(y墨ng)鐨勫揩閫熸€�.鎳�(y墨ng)瑭插彇杓冨ぇ鍊�锛岀偤闃叉瑾ゅ樊璁婂寲鐜囩灛鏅傞亷澶�..鎳�(y墨ng)鍙栬純灏忓€�銆傜偤浜嗘帶鍒惰秴瑾�(di脿o)..閫氬父瑕佸彇寰楄純灏�銆�

锛�2锛夌暥(d膩ng)鍋忓樊e鍜屽亸宸畩鍖栫巼ec鐐轰腑绛夊ぇ灏忔檪锛�鎳�(y墨ng)鍙栬純灏忓€间互閬�(d谩)鍒颁娇绯荤当(t菕ng)闊挎噳(y墨ng)鐨勮秴瑾�(di脿o)閲忔笡灏忕殑鐩殑锛屽悓鏅備篃鍙互淇濊瓑涓€瀹氱殑闊挎噳(y墨ng)閫熷害锛涙鐨�鍙栧€间篃瑕佸皬涓€浜�锛�鐨勫彇鍊艰閬╃暥(d膩ng)銆�

琛�1妯＄硦鎺у埗瑕�(gu墨)鍓囪〃

     Tab.1 The chart of fuzzy control rule

锛�3锛夌暥(d膩ng)鍋忓樊e杓冨皬鏅�,鎳�(y墨ng)鍔犲ぇ鐨勫彇鍊间互浣跨郴绲�(t菕ng)鍏锋湁鑹ソ鐨勭┅(w臎n)鎱�(t脿i)鐗规€�锛涘悓鏅傝€冩叜鍒扮郴绲�(t菕ng)鐨勬姉骞叉摼鎬�,鐨勯伕鎿囪鍜屽亸宸畩鍖栫巼ec绲�(ji茅)鍚堣捣渚嗚€冩叜锛屽叾鍘熷墖鏄�:涓€鑸儏娉佷笅鐐轰腑绛夊ぇ灏�锛涚暥(d膩ng)鍋忓樊璁婂寲鐜噀c杓冨皬鐨勬檪鍊�,瑕佸彇寰楀ぇ涓€浜�;鐣�(d膩ng)鍋忓樊璁婂寲鐜噀c杓冨ぇ鐨勬檪鍊�瑕佸幓杓冨皬鍊�銆�

鐐轰簡寤虹珛閬╃暥(d膩ng)?sh霉)鐗″摢锛氼惃鍒傚煍?gu墨)鍓囪〃锛岀附绲�(ji茅)宸ョ▼瑷�(sh猫)瑷�(j矛)浜哄摗鐨勬妧琛�(sh霉)鐭ヨ瓨鍜屽(sh铆)闅涙搷浣滅稉(j墨ng)椹�(y脿n)鏄ā绯婃帶鍒跺櫒瑷�(sh猫)瑷�(j矛)鐨勬牳蹇�锛屾牴鎿�(j霉)涓婅堪鍘熺悊鑸囨搷浣滅稉(j墨ng)椹�(y脿n)瑷�(sh猫)瀹氫簡灏�3鍊嬪弮鏁�(sh霉)鍒嗗垾鏁村畾鐨勬ā绯婃帶鍒惰〃锛屽琛�1鎵€绀�銆�

2.5绶ㄨ集妯＄硦鎺у埗鍣�

鍦∕andani鐨刢ommandwindow绐楀彛杓稿叆fuzzy灏卞彲浠ラ€�(j矛n)鍏ユā绯婃帹鐞嗙郴绲�(t菕ng)绶ㄨ集鍣�,瑷�(sh猫)缃悇鍙冩暩(sh霉)骞跺缓绔嬩竴鍊嬫柊鐨凢IS鏂囦欢锛岄€欏€嬫枃浠跺氨鏄ā绯婃帶鍒跺櫒鐨勬牳蹇�銆�

1)纰哄畾妯＄硦鎺у埗鍣ㄧ殑椤炲瀷鍜岀祼(ji茅)妲�(g貌u)

鍦‵IS绶ㄨ集鍣ㄧ獥鍙ｇ偤Mandani鍨�,鍙互渚濇閬告搰銆怑dit銆戜笅鐨勩€怉ddInput銆戝拰銆怉ddOutput銆戦伕闋�(xi脿ng)渚嗙⒑瀹氭ā绯婃帶鍒跺櫒鐨勭祼(ji茅)妲�(g貌u),骞跺垎鍒ョ⒑瀹氬悇杓稿叆銆佽几鍑虹殑鍊嬫暩(sh霉)鍜岃畩閲忓悕銆�

2)绶ㄨ集杓稿叆杓稿嚭璁婇噺鐨勯毟灞嚱鏁�(sh霉)

閬告搰绶ㄨ集鍣ㄧ獥鍙ｇ殑浠讳竴杓稿叆鎴栬€呰几鍑哄湒妯�(bi膩o),灏卞彲浠ラ€�(j矛n)鍏ラ毟灞嚱鏁�(sh霉)绶ㄨ集灏嶈┍妗�,閬稿畾銆怑dit銆戜笅鐨勩€怉dd Mfs銆戝氨鍙互澧炲姞闅稿爆搴﹀嚱鏁�(sh霉)鐨勫€嬫暩(sh霉)銆傞伕涓绶ㄨ集璁婇噺鐨勫湒妯�(bi膩o),纰哄畾鐣�(d膩ng)鍓嶈畩閲忛噺鍖栫瓑绱氱殑鑼冨湇(Range)銆佹ā绯婅畩閲忕殑閲忓寲绛夊強闅稿爆鍑芥暩(sh霉)鐨勯鍨�銆傛渶鍚�,灏嶅悇璁婇噺鐨勯毟灞嚱鏁�(sh霉)妯�(bi膩o)鏄庡叾灏嶆噳(y墨ng)妯＄硦瀛愰泦鐨勬ā绯婅獮瑷€鍊�銆傛瘡涓€鍊嬭几鍏�銆佽几鍑鸿畩閲忛毟灞嚱鏁�(sh霉)鐨勭法杓亷绋嬬浉鍚�銆傛妸鎵€鏈夌殑闅稿爆鍑芥暩(sh霉)閮界法杓ソ浠ュ悗,灏卞彲浠ラ棞(gu膩n)闁夐毟灞嚱鏁�(sh霉)绶ㄨ集绐楀彛銆�

3)绶ㄨ集妯＄硦鎺у埗瑕�(gu墨)鍓�

绶ㄨ集妯＄硦鎺у埗瑕�(gu墨)鍓囨檪鍦‵IS绐楀彛闆欐搳妯＄硦鎺у埗瑕�(gu墨)鍓囧湒妯�(bi膩o)鎵撻枊瑕�(gu墨)鍓囩法杓獥鍙�銆傜劧鍚庡湪if銆乤nd(or)銆乼hen閬告搰妗嗕腑閬镐腑鍚勮嚜鐨勮獮瑷€璁婇噺,鐒跺悗鍠搳瑭茬獥鍙ｄ笅闈㈢殑Addrule,瑭叉瑕�(gu墨)鍓囧氨琚鍏ヨ(gu墨)鍓囨涓�锛屽叾浣欒(gu墨)鍓囧彲涓€娆″鍏ャ€傛墍鏈夎(gu墨)鍓囬兘瀵叆瑕�(gu墨)鍓囨涓互鍚庨棞(gu膩n)闁夎┎绐楀彛灏卞畬鎴愪簡妯＄硦鎺у埗鍣ㄧ殑绶ㄨ集宸ヤ綔,鏈€鍚庝繚瀛樻枃浠�锛屾枃浠堕鍨嬫槸*.fis,閫欓噷鎴戝€戜繚瀛樼偤a.fis銆傚鍦�2鎵€绀虹偤妯＄硦绯荤当(t菕ng)閭忚集鎺у埗鐨勭祼(ji茅)妲�(g貌u)鍦栥€�

3绯荤当(t菕ng)浠跨湡妯″瀷鐨勫缓绔�

杩斿洖鍒癕atlab鐨勫懡浠ょ獥鍙�,杓稿叆simulink閫�(j矛n)鍏imulink鐠�(hu谩n)澧冧笅銆傚缓绔嬪鍦�7鎵€绀虹殑瀹屾暣妯″瀷銆傜劧鍚庡湪闆欐搳FuzzyLogicController鍦栨(bi膩o),鍦ㄥ綀鍑虹殑灏嶈┍妗嗕腑杓稿叆a鍗冲彲閬�(y霉n)琛屻€�

4浠跨湡绲�(ji茅)鏋滃垎鏋�

鏈枃鏄互宸ユキ(y猫)鎺у埗閬庣▼涓煇琚帶灏嶈薄鐐轰緥锛屾墍閬歌几鍏ユ槸涓€鍊嬪柈浣嶉殠韬嶉熆鎳�(y墨ng)锛屽偝閬炲嚱鏁�(sh霉)鏄�銆�

鍦�7鎵€绀虹殑鏄垎鍒ラ噰鐢ㄥ偝绲�(t菕ng)PID鎺у埗鍜屾ā绯婅嚜閬╂噳(y墨ng)PID鎺у埗灏嶈鎺у皪璞￠殠韬嶉熆鎳�(y墨ng)鐨勭祼(ji茅)妲�(g貌u)鍦�銆傚緸鍦�8鐨勪豢鐪熷湒涓彲浠ョ湅鍑�锛岀敱浜庡姞鍏ヤ簡妯＄硦鎺у埗鍒ゆ柗瑾炲彞鐨勪綔鐢�锛屽悗鑰呭湪瓒呰(di脿o)閲忓拰瑾�(di脿o)绡€(ji茅)鏅傞枔涓婄殑鎺у埗鏁堟灉閮芥瘮鍓嶈€呰純濂�锛屼絾鍚屾檪涓婂崌鏅傞枔璁婂緱杓冪珐鎱�銆傚偝绲�(t菕ng)PID鎺у埗鍦ㄧ郴绲�(t菕ng)閬�(y霉n)琛屾湡闁撶殑鏌愪竴鍊嬫檪鍒诲湪鍙楀埌涓€鍊嬪渚嗘摼鍕曞奖闊跨殑鎯呮硜涓�锛屼竴鏃︾郴绲�(t菕ng)鐨勮嚜閬╂噳(y墨ng)鑳藉姏杓冨樊锛屽彲鑳芥渻浣跨郴绲�(t菕ng)鍑虹従(xi脿n)鎸暕銆備絾鐢变簬鑷仼鎳�(y墨ng)妯＄硦鎺у埗鍣ㄦ湰韬殑鍙冩暩(sh霉)鑷暣瀹氬姛鑳斤紝浣垮緱绯荤当(t菕ng)鍏锋湁浜嗚純寮�(qi谩ng)鐨勮嚜閬╂噳(y墨ng)鑳藉姏锛岃兘澶犲湪澶栦締鎿惧嫊閫�(j矛n)鍏ユ檪鍙婃檪鎭㈠京(f霉)锛屼笉鍑虹従(xi脿n)鎸暕銆�

5绲�(ji茅)璜�

鑸囧偝绲�(t菕ng)PID鎺у埗鏂规硶鐩告瘮锛屾ā绯婅嚜閬╂噳(y墨ng)PID鎺у埗鏂规硶鍏锋湁瑷�(j矛)绠楅噺灏�銆佹槗浜庡(sh铆)鐝�(xi脿n)鐨勫劒(y艒u)榛�(di菐n)锛屾帶鍒堕亷绋嬩腑鍙互閫氶亷灏�鐨勮嚜閬╂噳(y墨ng)瑾�(di脿o)鏁�锛屼娇鎺у埗鍣ㄥ叿鏈夋洿濂界殑鎺у埗鏁堟灉銆傜敱浠跨湡绲�(ji茅)鏋滃彲鐭ワ紝閫欑ó鏂规硶鑳界櫦(f膩)鎻甈ID鍜屾ā绯婃帶鍒跺叐鑰呯殑鍎�(y艒u)榛�(di菐n)锛岃兘鍦ㄨ純鐭殑鏅傞枔鍏�(n猫i)閬�(d谩)鍒扮┅(w臎n)瀹�锛岃秴瑾�(di脿o)鏇村皬锛屼娇寰楁ā绯婅嚜閬╂噳(y墨ng)PID鎺у埗鍏锋湁浜嗚純寮�(qi谩ng)鐨勮嚜閬╂噳(y墨ng)鑳藉姏锛屽悓鏅傞妫掓€т篃寰楀埌鎻愰珮锛岃純濂藉湴閬╂噳(y墨ng)浜嗗湪鎺у埗閬庣▼涓鎺у皪璞¤畩鍖栦互鍙婂渚嗘摼鍕曠獊鐒堕€�(j矛n)鍏ョ郴绲�(t菕ng)鏅傜殑鎯呮硜锛岀壒鍒ユ槸鍦ㄧ郴绲�(t菕ng)鍙冩暩(sh霉)鐧�(f膩)鐢熸敼璁婃檪鍚屾ǎ鍙嵅寰椾护浜烘豢鎰忕殑鎺у埗鏁堟灉锛屼娇鎺у埗绯荤当(t菕ng)鍏锋湁鑹ソ鐨勮嚜鏁村畾鑳藉姏锛屽叿鏈夎純濂界殑宸ョ▼鎳�(y墨ng)鐢ㄥ墠鏅�銆�

鍙冭€冩枃鐛�(xi脿n):

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[2]妤婄泭鑸�锛屽磾澶ч€�锛屽懆鎰涜粛.妯＄硦鑷仼鎳�(y墨ng)PID鎺у埗鍣ㄥ強*浠跨湡瀵�(sh铆)鐝�(xi脿n)[J].鑹﹁埞闆诲瓙宸ョ▼锛�2010骞�4鏈堢附绗�190鏈�

YANGYixing,CUIDalian.Self-adaptiveFuzzyPID

ControllerandRealizingtheControlSysteminSimulinkenvironment[J].ShipElectronicEngineering,2009,190.

[3]鏄撴澃.妯＄硦鑷仼鎳�(y墨ng)PID鎺у埗鍣ㄧ殑瑷�(sh猫)瑷�(j矛)鍙婃噳(y墨ng)鐢ㄧ爺绌禰J].鍒堕€犳キ(y猫)鑷嫊鍖�.YIJie.Applicationresearchanddesignoffuzzyself-adjustingcontrollerofPIDparameter[J].AutomationOfTheManufacture.