Fuzzy-GA PID controller with incomplete derivation and its application to intelligent bionic artificial leg  

作　　者：谭冠政 李安平 

机构地区：[1]School of Information Science and Engineering, Central South University, Changsha 410083, China

出　　处：《Journal of Central South University of Technology》2003年第3期237-243,共7页中南工业大学学报（英文版）

基　　金：Project (50275150) supported by the National Natural Science Foundation of China;Project (RL200002) supported by the Foundation of the Robotics Laboratory, Chinese Academy of Sciences

摘　　要：An optimal PID controller with incomplete derivation is proposed based on fuzzy inference and the geneticalgorithm, which is called the fuzzy-GA PID controller with incomplete derivation. It consists of the off-line part andthe on-line part. In the off-line part, by taking the overshoot, rise time, and settling time of system unit step re-sponse as the performance indexes and by using the genetic algorithm, a group of optimal PID parameters K*p , Ti* ,and Tj are obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-linepart, based on K; , Ti* , and T*d and according to the current system error e and its time derivative, a dedicatedprogram is written, which is used to optimize and adjust the PID parameters on line through a fuzzy inference mech-anism to ensure that the system response has optimal dynamic and steady-state performance. The controller has beenused to control the D. C. motor of the intelligent bionic artificial leg designed by the authors. The result of computersimulation shows that this kind of optimal PID controller has excellent control performance and robust performance.An optimal FID controller with incomplete derivation is proposed based on fuzzy inference and the genetic algorithm, which is called the fuzzy-GA PID controller with incomplete derivation. It consists of the off-line part and the on-line part. In the off-line part, by taking the overshoot, rise time, and settling time of system unit step response as the performance indexes and by using the genetic algorithm, a group of optimal PID parameters Kp* , Ti* , and Td* are obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , 77 , and Td* and according to the current system error e and its time derivative, a dedicated program is written, which is used to optimize and adjust the PID parameters on line through a fuzzy inference mechanism to ensure that the system response has optimal dynamic and steady-state performance. The controller has been used to control the D. C. motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation shows that this kind of optimal PID controller has excellent control performance and robust performance.

关 键 词：fuzzy inference genetic algorithm fuzzy-GA PID controller INCOMPLETE derivation OFF-LINE on-line INTELLIGENT BIONIC artificial LEG 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]