基于模糊PID控制的仿真设计

基于模糊PID的控制器的仿真设计学院:信息学院专业：姓名：指导老师：自动化赵娟学号：职称：080104021044彭文亮讲师中国·珠海二○一二年五月北京理工大学珠海学院2012届本科生毕业设计北京理工大学珠海学院毕业设计诚信承诺书本人郑重承诺：我所呈交的毕业设计《基于模糊PID的控制器的仿真设计》是在指导教师的指导下，独立开展研究取得的成果，文中引用他人的观点和材料，均在文后按顺序列出其参考文献，设计使用的数据真实可靠。承诺人签名：日期：年月北京理工大学珠海学院2012届本科生毕业设计I基于模糊PID的控制器的仿真设计摘要PID（比例积分微分）控制具有结构简单、稳定性能好、可靠性高等优点,尤其适用于可建立精确数学模型的控制系统。而对于一些多变量、非线性、时滞的系统，传统的PID控制器并不能达到预期的效果。随着模糊数学的发展，模糊控制的思想逐渐得到控制工程师们的重视，各种模糊控制器也应运而生。而单纯的模糊控制器有其自身的缺陷—控制效果很粗糙、控制精度无法达到预期标准。但利用传统的PID控制器和模糊控制器结合形成的模糊自适应的PID控制器可以弥补其缺陷；它将系统对应的误差和误差变化率反馈给模糊控制器进而确定相关参数，保证系统工作在最佳状态，实现优良的控制效果。论文介绍了参数自适应模糊PID控制器的设计方法和步骤。并利用MATLAB中的SIMULINK和模糊逻辑推理系统工具箱进行了控制系统的仿真研究，并简要地分析了对应的仿真数据。关键词：经典PID控制模糊控制自适应模糊PID控制器参数整定MATLAB仿真北京理工大学珠海学院2012届本科生毕业设计IIThesimulationanddesign-basedfuzzyPIDcontrolABSTRACTPID(ProportionIntegrationDifferentiation)control,withlotsofadvantagesincludingsimplestructure,goodstabilityandhighreliability,isquitesuitabletoestablishespeciallythecontrolsystemwhichaccuratemathematicalmodelisavailableandneeded.However,takenmultivariable,nonlinearandtime-lagintoconsideration,traditionalPIDcontrollercannotreachtheexpectedeffect.AlongwiththedevelopmentofFuzzyMathematics,controlengineersgraduallypaymuchattentiontotheideaofFuzzyControl,thuspromotingtheinventionoffuzzycontrollers.However,simplefuzzycontrollerhasitsowndefect,wherecontroleffectisquitecoarseandthecontrolprecisioncannotreachtheexpectedlevel.Therefore,theFuzzyAdaptivePIDControlleriscreatedbytakingadvantageofthesuperiorityofPIDControllerandFuzzyController.Takenthiscontrollerinuse,thecorrespondingerroranditsdifferentialerrorofthecontrolsystemcanbefeedbackedtotheFuzzyLogicController.Moreover,thethreeparametersofPIDControllerisdeterminedonlinethroughfuzzification,fuzzyreasoninganddefuzzificationofthefuzzysystemtomaintainbetterworkingconditionthanthetraditionalPIDcontroller.Meanwhile,thedesignmethodandgeneralstepsareintroducedoftheParameterself-settingFuzzyPIDController.Eventually,theFuzzyInference北京理工大学珠海学院2012届本科生毕业设计III目录摘要.............................................................................................................................................................IABSTRACT....................................................................................................................................................II1绪论.............................................................................................................................................................11.1本设计的目的、意义及应达到的技术要求..................................................................................11.2本设计在国内外的发展概况及存在的问题..................................................................................21.3研究的主要内容..............................................................................................................................32方案选择及可行性分析..............................................................................................................................42.1方案的选择......................................................................................................................................42.2方案可行性分析..............................................................................................................................53PID算法及参数介绍..................................................................................................................................63.1PID算法介绍...................................................................................................................................63.2PID参数对系统性能的影响...........................................................................................................84设计原理.....................................................................................................................................................94.1模糊逻辑与模糊控制的概念..........................................................................................................94.2模糊控制器的基本结构和工作原理............................................................................................104.3模糊推理方式................................................................................................................................124.4模糊控制器的结构........................................................................................................................134.5模糊控制器的隶属函数................................................................................................................144.6模糊推理方法................................................................................................................................185方案设计...................................................................................................................................................195.1模糊PID控制器组织结构和算法的确定.