模糊自整定PID算法的控制系统同时具有PID控制和模糊控制的优点,可满足伺服电机随动控制的高性能跟踪任务需求.基于模糊自整定PID控制原理和模糊控制的基本概念,研究了PID参数模糊自整定模糊化、模糊推理、清晰化这三个步骤的任务内容、实现方法和程序函数,并设计了基于该算法的实时伺服控制软件.试验结果表明,基于该算法的伺服控制系统在不同跟踪速度下均具有较高的控制精度和良好的动态性能.%The control system using fuzzy self-tuning PID algorithm features both the advantages of PID control and fuzzy control, thus it satisfies the requirement of high performance tracking task for servo motor following up control. Based on fuzzy self-tuning PID control principle and basic concept of fuzzy control, the contents of the three-step task of fuzziness, fuzzy reasoning and articulation for PID parameters fuzzy self-tuning; the implementing method, and program function are researched, and the real-time servo control software based on this algorithm is designed. The result of test shows that under different tracking speed, the servo control system using this algorithm all features high control accuracy and excellent dynamic performance.
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