高精度交流伺服系统的模糊PID双模控制

交流位置伺服系统因其存在参数时变、负载扰动以及电机的非线性等缺点 ,很难为其建立准确的模型.模糊(fuzzy)控制具有无需建立被控对象的数学模型、鲁棒 性好等优点,但稳态精度差.将模糊控制和PID控制相结合,设计了Fuzzy-PID双模控制器. 在论域内用不同的控制方式分段实现控制,这样就综合了模糊控制和PID控制的优点,克服 了各自的缺点.该控制器结构简单、易于实现.在半闭环交流位置伺服系统上所做的实验表 明,采用Fuzzy-PID双模控制器与采用经典PID控制器相比,阶跃响应的调整时间减少了33.7% ,并且无超调,轨迹跟踪误差减小了47.2%. 

Fuzzy-PID double mode control of ultra-precision AC servo syst em

It is difficult to establish mathematical mode for AC servo system,because it has several disadvantages,such as parameters varying as time,load disturbing,motor being non-linear,and so on.Fuzzy control need not establish the mathematical mode of controlled plant,but steady state precision is bad.A fuzzy-PID double mode controller was presented,which combined fuzzy controller and PID controller.Different controller was adopted in different domain,so the double mode controller combined the advantages of fuzzy controller and PID controller,and get rid of the disadvantages of them.The double mode controller is easy to realize.Experiment results show that the fuzzy-PID double mode controller reduces settling time by 33.7% without overshooting and decreases tracking error by 47.2% in comparison to standard PID controller.