基于改进模糊PID位置随动系统控制  

Control of position servo system based on improved fuzzy PID

作　　者：谢观灵 邵李焕[1] 郑长风 Xie Guanling;Shao Lihuan;Zheng Changfeng(Institute of Electron Device&Application,Hangzhou Dianzi University,Hangzhou 310018,China)

机构地区：[1]杭州电子科技大学新型电子器件与应用研究所,浙江杭州310018

出　　处：《电子技术应用》2023年第6期49-53,共5页Application of Electronic Technique

基　　金：浙江省科技计划项目(2017C01027)。

摘　　要：针对直流有刷电机在使用传统模糊PID控制器进行位置随动控制时,由于负载转矩变化导致系统跟随性能下降以及负载转矩未知的问题,提出了基于负载观测器的改进模糊PID控制器代替传统模糊PID控制器,在传统模糊控制结构的基础上增加负载观测器,实时观测系统负载转矩,并利用负载转矩实时调节系统控制器参数,提升了系统在负载转矩突变时的位置跟随能力。仿真结果表明:负载观测器能实时、准确地观测负载转矩,改进模糊PID控制器对负载扰动有较强的抑制能力,并有效减小了系统的调节时间和稳态误差。To address the problem of system following performance degradation due to load torque variation and the problem of unknown load torque that occurs in DC brushed motors when using conventional fuzzy PID controllers for position following con‐trol,a load observer-based improved fuzzy PID controller is proposed to replace the traditional fuzzy PID controller.A load ob‐server is added to the traditional fuzzy control structure in order to observe the system load torque in real time and adjust the pa‐rameters of the system controller in real time using the load torque,which improves the position following capability of the sys‐tem when the load torque changes abruptly.The simulation results show that the load observer can observe the load torque in real time and accurately,and the improved fuzzy PID controller has a strong ability to suppress the load disturbance and can effec‐tively reduce the regulation time and steady-state error of the system.

关 键 词：直流有刷电机 位置随动系统 模糊PID 负载观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]