一种运动控制系统的PID参数模糊自整定方法

摘要

针对运动控制系统设计了一种模糊自整定PID参数控制器,该控制器首先采用基于继电特性的方法求得PID控制器参数的初值,进而利用模糊控制器对运动控制系统的PID参数进行在线整定、计算和调整,并将取得的对应系统最佳性能的PID参数作为输出结果。目前该方法已在Matlab/Simulink中进行了仿真和实验,结果表明该自整定方法能使运动控制系统快速获得满意的PID参数和控制效果。%The paper proposes a design for a fuzzy self-tuning PID controller. The controller finds the initial value of PID controller parameters via a relay-based method, and performs online tuning, computing and adjusting for PID parameters with a fuzzy controller, which then exports PID parameters optimized for performance for the specific system. Simulation in Matlah/Simulink shows that this self-tuning method is fast to obtain satisfactory PID parameters and high performance for motion control systems.