参数自整定模糊—复合控制的随动系统应用的研究

【作者】 伦长江；

【导师】 于书芳； 王金城；

【作者基本信息】 大连理工大学 ， 控制工程， 2002， 硕士

【摘要】 现代控制理论发展到今天，理论和实践的差距仍很大，原因之一就是对被控对象数学模型的依赖性太强和理论推导的假设条件太严格，不适应实际应用。因此，控制理论的发展把重心转向控制器的智能化，以减少对数学模型的依赖。而在智能控制领域中，模糊控制脱颖而出。 另外，传统的自动控制系统大都采用PID控制技术，它虽然具有结构简单，可靠，稳定的特点，但它常有不能有效克服负载、模型参数的大范围变化及其非线性因素的影响，因此在高性能高精度的场合不能满足要求。 针对上述情况，本课题将模糊控制器直接用于随动系统控制。具体说，本文介绍了基于参数自整定模糊-复合控制器的随动系统研究，描述了模糊控制的基本原理及设计原则。为了提高对随动系统的控制品质和增加智能度，本文又引进了参数自整定和复合控制环节，并经过大量的实验研究后对量化因子Ke、kc和比例因子Ku的调整给出了一定的规则。本课题的研究主要分为两个方面：一是通过仿真来研究基本模糊控制器、参数自整定模糊控制器和参数自整定模糊-复合控制器应用于随动系统的控制品质及鲁棒性问题，二是研究了这三种控制器应用于实际随动系统的效果。 经过大量的实验结果表明参数自整定模糊-复合控制器的各项性能指标优于参数自整定模糊控制器、特别是基本模糊控制器，并具有很强的鲁棒性。更多还原

【Abstract】 The modern control theory has still had great difference to the practice, and one of its reasons is that it has too strong dependence on the match model of the controlled object and it needs too rigorous supposed-conditions that it is not fit for practical application. Therefore, the development of control theory is changing its core to the intelligent controller. And in the field of intelligence control, fuzzy control is just outstanding.On the other hand, the auto-control system traditionally applies PID control technique because it is reliable, stable and its structure is simple, but it often can not overcomes efficiently the effects of great change of loads and model parameters and nonlinear factors, thus it can not meet the demands on the occasion of high performance and accuracy.Therefore, the paper applies directly fuzzy controller to servo system control. In detail, this paper introduces the study of servo system based on fuzzy-complex controller of parameter self-adjusting. The fundamental principles and design rules of fuzzy control are described. In order to enhance performance and intelligent level of servo system, a complex link is added to the fuzzy controller in this paper and some principles on regulating the quantitative factors Ke, Kc and the proportional factor Ku are given by many experiments. This study consists of two sections: The first one is that control qualities and robustness in the application of the simple fuzzy controller, the fuzzy controller of parameter self-adjusting and the fuzzy-complex controller of parameter self-adjusting to the servo system are studied by simulation and the second one is the study of the actual servo system. Many experiment results show that all performance indexes of the fuzzy-complex controller of parameter self-adjusting are in advance of those of the simple fuzzy controller and the fuzzy controller of parameter self-adjusting. Especially, the fuzzy-complex controller of parameter self-adjusting is robust.更多还原