基于模糊PID伺服电机控制策略设计  

Design of Servo Motor Control Strategy Based on Fuzzy PID

作　　者：林洪兵 狄凯杰 杨婧 徐小燕 LIN Hong-bing;DI Kai-jie;YANG Jing;XU Xiao-yan(Product R&D Center Fuzhou Skywiretech Co.,Ltd.,Fuzhou 350100,China;Longsong Keli(Shanghai)Instrument Co.,Ltd.Jiaxing Branch,Tongxiang 314500,China;Commercial Vehicle Research Institute Changsha Branch Changsha BYD Auto Co.,Ltd.,Changsha 410116,China;.Faculty of Engineering,Lishui University,Lishui 323000,China)

机构地区：[1]福州天瑞线锯科技有限公司,福建福州350100 [2]朗松珂利(上海)仪器仪表有限公司嘉兴分公司,浙江桐乡314500 [3]长沙比亚迪汽车有限公司商用车研究院长沙分院,湖南长沙410116 [4]丽水学院工学院,浙江丽水323000

出　　处：《山东工业技术》2024年第1期74-80,共7页Journal of Shandong Industrial Technology

摘　　要：传统PID作为结构最为简单的闭环控制策略,广泛地应用于工业控制环节。但由于其易受干扰因素影响,且不适用于非线性系统控制的特性,限制了应用场景。为能在干扰环境下对非线性系统达到较优的控制效果,本文采用模糊PID设计伺服电机的控制策略,通过MATLAB/Simulik建立传统PID及模糊PID的控制回路并对两者控制性能进行比较。结果证明:模糊PID响应速度优于传统PID,且超调量较小。为验证模糊PID应用的效果,本文搭建了以MI-7016数采仪为核心,采用速度、位.移传感器检测的测试平台。结果证明:模糊PID对电机的控制效果较好,装置末端夹爪位移误差小于±1%,符合使用要求。Traditional PID,as the simplest closed-loop control strategy,is widely used in industrial control processes.However,because it is vulnerable to interference factors and is not suitable for nonlinear system control,its application scenarios are limited.In order to achieve better control effect on nonlinear system in the interference environment,this paper uses fuzzy PID to design the control strategy of servo motor,establishes the control loop of traditional PID and fuzzy PID through MATLAB/Simulik,and compares their control performance.The results show that the response speed of fuzzy PID is superior to traditional PID,and the overshoot is small.To verify the effectiveness of fuzzy PID application,this article establishes a testing platform with the MI-7016 data acquisition instrument as the core and using speed and displacement sensors for detection.The results show that the fuzzy PID has a good control effect on the motor,and the displacement error of the end clamp of the device is less than±1%,which meets the usage requirements.

关 键 词：模糊PID 伺服电机 MTLAB 测试平台 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]