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针对传统PID控制器参数整定不良、适应性差、控制精度不理想的现状,提出了动态过程中参数自适应的模糊PID控制系统。根据穿梭车所用直流伺服电机参数及穿梭车负载状况,建立穿梭车控制系统简化数学模型。使用Matab的Simulnk工具箱对穿梭车控制系统进行仿真研究。由仿真结果可知,采用自适应模糊PID控制器,控制系统调整时间变短,响应速度更快,具有较好的鲁棒特性。利用仿真得出的模糊控制规则表于穿梭车控制系统中进行在线PID自整定,应用表明,使用自适应模糊PID控制器可有效减小超调量,加快控制系统的调整时间,达到了良好的实际控制效果。仿真与实验结果表明自适应模糊PID控制器具有动态响应快、超调量小和抗干扰能力强等优点,是一种更加有效的控制策略。
Aiming at the current situation of poor tuning, poor adaptability and poor control accuracy of traditional PID controller, a fuzzy PID control system with adaptive parameters in dynamic process is proposed. According to the parameters of DC servo motor used in shuttle and the load of shuttle, a simplified mathematical model of shuttle control system is established. Simulate the shuttle control system using Matab’s Simulnk toolbox. The simulation results show that the adaptive fuzzy PID controller, the control system shorter adjustment time, faster response, with good robustness. The fuzzy PID control rule table is used to carry out on-line PID self-tuning in the shuttle control system. The application shows that the adaptive fuzzy PID controller can effectively reduce the overshoot, speed up the adjustment time of the control system and achieve a good The actual control effect. Simulation and experimental results show that the adaptive fuzzy PID controller has the advantages of fast dynamic response, small overshoot and strong anti-interference ability, which is a more effective control strategy.