基于模糊自适应 PID控制的定位系统设计

摘要

In order to enhance the performance of existing stepping motor system,the mathematic model of twophase hybrid stepping motor was established after analyzing the structure and operation principle of stepping motor. Combining fuzzy control theory with PID control theory,appropriate fuzzy PID controller and corresponding control rules were designed for the stepping motor control system. The simulation results show that the system has higher performance,it can precisely locate.%　　为提高步进电机定位性能，研究模糊自适应PID控制方法。在分析两相混合式步进电机结构和工作原理的基础上，推导出电机的数学模型。设计了适用于步进电机定位控制要求的模糊PID控制器，以误差e和误差的变化ec作为输入，利用模糊规则在线对PID参数进行修正以满足不同时刻的e和ec对PID参数自整定的要求。通过仿真分析，模糊自适应PID控制方法具有较好的控制性能，能够达到精确定位。