题 目 自适应模糊PID控制器的MATLAB的设计
学生姓名 学 号 专业班级 指导教师 学 院 电气工程与信息工程学院 答辩日期
2
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。
本设计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
I
ABSTRACT
PID(Proportion Integration Differentiation)control，with lots of advantages including simple structure，good stability and high reliability，is quite suitable to establish especially the control system which accurate mathematical model is available and needed.However，taken multivariable，nonlinear and time-lag into consideration，traditional PID controller can not reach the expected effect.
Along with the development of Fuzzy Mathematics，control engineers gradually pay much attention to the idea of Fuzzy Control，thus promoting the invention of fuzzy controllers. However，simple fuzzy controller has its own defect，where control effect is quite coarse and the control precision can not reach the expected level. Therefore，the Fuzzy Adaptive PID Controller is created by taking advantage of the superiority of PID Controller and Fuzzy Controller. Taken this controller in use，the corresponding error and its differential error of the control system can be feed backed to the Fuzzy Logic Controller. Moreover，the three parameters of PID Controller is determined online through fuzzification，fuzzy reasoning and defuzzification of the fuzzy system to maintain better working condition than the traditional PID controller.
Meanwhile，the design method and general steps are introduced of the Parameter self-setting Fuzzy PID Controller. Eventually，the Fuzzy Inference Systems Toolbox and SIMULINK toolbox are used to simulate Control System. The results of the simulation show that Self-organizing Fuzzy Control System can get a better effect than Classical PID controlled evidently.
Keywords: Classic PID control; Fuzzy Control; Parameters tuning; the Fuzzy Adaptive PID Controller; MATLAB simulation
II
目 录
摘 要 ----------------------------------------------------------------------------------------------------- I ABSTRACT ---------------------------------------------------------------------------------------------------- II 第1章 绪论 ------------------------------------------------------------------------------------------------ 1
1.1 课题的研究背景及意义 ---------------------------------------------------------------------- 1 1.2 PID控制的特点 -------------------------------------------------------------------------------- 1 1.3 模糊控制技术概述 ----------------------------------------------------------------------------- 2 第2章 模糊控制理论 ------------------------------------------------------------------------------------ 4
2.1 模糊集合定义 ----------------------------------------------------------------------------------- 4 2.2 模糊语言 ----------------------------------------------------------------------------------------- 4 2.3 模糊变量的隶属函数 ------------------------------------------------------------------------- 5 2.4 模糊推理系统的数据结构管理函数介绍 ------------------------------------------------- 9 2.5 论域、量化因子、比例因子的选择 ----------------------------------------------------- 11
2.5.1 论域及基本论域 --------------------------------------------------------------------- 11 2.5.2 量化因子及比例因子 --------------------------------------------------------------- 12
第3章 基于MATLAB的模糊控制器的设计内容 ------------------------------------------------- 14
3.1 模糊控制器概述 ------------------------------------------------------------------------------ 14 3.2 模糊控制器设计所包括的内容 ----------------------------------------------------------- 14 3.3 模糊控制器的结构设计 -------------------------------------------------------------------- 14 3.4 模糊控制器规则的设计 -------------------------------------------------------------------- 15 3.5 精确量的模糊化 ------------------------------------------------------------------------------ 15 3.6 模糊推理及其模糊量去模糊化方法 ----------------------------------------------------- 16 3.7 模糊控制规则表 ------------------------------------------------------------------------------ 16 3.8 模糊控制器的维数确定 -------------------------------------------------------------------- 17 第4章 PID控制器 -------------------------------------------------------------------------------------- 19
4.1 PID的概述 ------------------------------------------------------------------------------------- 19 4.2 PID 控制的基本理论 ----------------------------------------------------------------------- 19 4.3 模糊 PID 控制 ------------------------------------------------------------------------------- 21 4.4模糊PID控制器组织结构 ------------------------------------------------------------------ 22 4.5模糊PID控制器模糊部分设计 ------------------------------------------------------------ 22
4.5.1定义输入、输出模糊集并确定个数类别 -------------------------------------- 22 4.5.2确定输入输出变量的实际论域 -------------------------------------------------- 23 4.5.3定义输入、输出的隶属函数 ----------------------------------------------------- 23
III