磁悬浮球系统模糊PID参数自调整控制方法  

Parameter Self-adjusting Control Method of Fuzzy PID for Magnetic Levitation Ball System

作　　者：刘丽丽[1] 左继红[1] LIU Li-li;ZUO Ji-hong(Hunan Railway Professional Technology College,Zhuzhou 412001,China)

机构地区：[1]湖南铁道职业技术学院,湖南株洲412001

出　　处：《控制工程》2021年第2期354-359,共6页Control Engineering of China

基　　金：湖南省教育厅科学研究项目(19C1211);校级科研创新团队资助项目(KYTD201703)。

摘　　要：因磁悬浮系统具有非线性、迟滞性、不稳定性的特点,传统的控制方法难以达到较好的控制效果。针对这些问题,提出了一种不依赖系统精确数学模型的模糊PID控制算法。首先根据模糊控制理论和人工调整PID参数的实际经验,对PID参数制定了模糊控制规则表,进而通过模糊推理和重心法解模糊过程得到PID参数的隶属度,最终实现了磁悬浮系统实时控制时PID参数的自调整。实验结果表明所提方法控制精度高、自适应能力和鲁棒性强。For the magnetic levitation system with nonlinearity,hysteresis and instability,the traditional control method is difficult to achieve better control effect.This paper proposes a fuzzy PID control algorithm which does not rely on accurate mathematical models.Firstly,according to the fuzzy control theory and the practical experience of adjusting the PID parameters manually,the fuzzy control rule table was made for PID parameters.Then the membership degree of the PID parameters was obtained through using the fuzzy reasoning and the gravity center method to solve the fuzzy process.Finally,the self-adjustment of the PID parameters in the realtime control of the magnetic levitation system was realized.Experimental results show that the proposed method has high control accuracy,strong adaptability and robustness.

关 键 词：磁悬浮系统 模糊控制 参数自调整 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]