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根据PCR对温度控制的要求设计出一种模糊PID控制器,采用误差和误差变化率作为模糊PID控制器的输入,PID参数作为模糊PID控制器的输出,并使用一组模糊规则实现对PID参数的在线优化调节.通过使用Simulink图形化工具平台对模糊PID控制器和传统的PID控制器进行建模和仿真.结果表明,与传统PID控制器相比,模糊PID控制器性能优良,使系统响应速度加快,超调减小. 相似文献
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基于模糊神经网络的变换器自适应控制方法 总被引:1,自引:1,他引:0
提出了一种新型的基于模糊神经网络自适应PI调节电流控制电压型PWM变换器方法.结合了模糊神经网络控制与PI控制器,根据三相电流比较产生的三相电流误差和电流误差变化率,自动调整P、I参数,提高了电流的控制精度和变换器的动态性能.采用MATLAB/Simulink对常规PI控制器和模糊神经网络自适应PI控制器进行了仿真对比.仿真结果表明了采用模糊神经网络自适应PI控制器,其系统输出的误差及误差变化要小,系统的跟踪精度得以提高,动态性能得到改善. 相似文献
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改进的模糊内模控制在时滞系统中的应用 总被引:2,自引:0,他引:2
采用模糊控制器和内模控制器相结合,对模糊内模控制方法进行了研究。将Smith预估器和内模控制器结合起来,使用模糊控制器作为主控制器。用积分环节消除系统的静态误差,用惯性环节低通滤波来改善模型失配较严重的情形。能在较大的模型误差范围内得到良好的控制品质。通过时滞系统试验表明本文提出的控制方案同常规控制方法相比有了更好的鲁棒性和较好的控制性能。 相似文献
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本文提出一种自适应模糊控制器并将之用于机器人轨迹跟踪控制 ,该控制器采用控制器输出误差方法 (COEM) ,根据控制器的输出误差而不是对象的输出误差来在线地调整模糊控制器的参数 ,无须对对象进行辩识 .仿真结果表明该控制器用于机器人轨迹跟踪控制具有很好的性能 ,是一种有效的控制器 相似文献
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基于自适应模糊PID控制器的非线性系统仿真 总被引:7,自引:1,他引:7
对于缺乏精确模型的过程或参数时变的滞后过程,传统PID控制难以达到良好的控制效果.普通模糊控制能够对一些非线性系统进行控制,并不需被控对象精确的数学模型,但是模糊控制难以消除系统的静态误差.针对复杂的非线性系统,设计了自适应模糊PID控制器.该控制器将模糊控制的动态性能好的优点和PID控制的稳态精度高的优点结合起来,采用模糊控制与PID控制分段控制策略,当偏差大于某一阈值时,采用模糊推理的方法调整系统的控制量,当偏差小于某一阈值时,切换到PID控制以消除系统的静态误差,较好地克服了传统PID控制和普通模糊控制所存在的主要问题.通过仿真实验分析,证明了该控制方法的有效性. 相似文献
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对受非完整约束且含模型不确定性的移动机器人基于分层模糊系统设计了跟踪期望几何路径的鲁棒间接自适应控制方案.此方法除实现路径跟踪外,还可避免控制器的奇异性并保证跟踪方向.由于控制结构中使用了分层模糊系统,大大减少了模糊规则数目;并用鲁棒控制项对模糊系统逼近误差进行补偿,减少了其对跟踪精度的影响.证明了闭环系统跟踪误差收敛到原点的小邻域内,且可通过适当增大鲁棒控制项的设计参数使跟踪误差进一步减小.最后用实验结果验证了方法的有效性. 相似文献
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Tao C.W. 《IEEE transactions on systems, man, and cybernetics. Part A, Systems and humans : a publication of the IEEE Systems, Man, and Cybernetics Society》2002,32(5):614-620
In this paper, a new adaptive fuzzy Proportional-Integral (of a modified error function)-Derivative (PIMD) controller is designed for systems with uncertain deadzones. Instead of using the summation of the system output error to be one of the input variables, the fuzzy mechanism in PIMD controller takes the summation of a proposed error function as one essential part of the output fuzzy singleton. Together, with the linearly combined error and difference of the error as the only input variables, the complexity reduced fuzzy mechanism of the fuzzy PIMD controller is constructed. The adaptation processes are provided to determine the parameters of the PIMD controller to reduce the overshoot and to accelerate the system with deadzone to the desired output. The fuzzy PIMD controller is indicated to be flexible to the variations of deadzone parameters. Also, the proposed fuzzy PIMD controller is flexible to the change of deadzone model to contain jump discontinuity points. Moreover, the fuzzy PIMD controller can perform well for the system with time-varying deadzone model. Simulation results are included to indicate the effectiveness of the adaptive fuzzy PIMD controller. 相似文献
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Andersen H.C. Lotfi A. Tsoi A.C. 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》1997,27(4):686-691
The controller output error method (COEM) is introduced and applied to the design of adaptive fuzzy control systems. The method employs a gradient descent algorithm to minimize a cost function which is based on the error at the controller output. This contrasts with more conventional methods which use the error at the plant output. The cost function is minimized by adapting some or all of the parameters of the fuzzy controller. The proposed adaptive fuzzy controller is applied to the adaptive control of a nonlinear plant and is shown to be capable of providing good overall system performance. 相似文献
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一种模糊控制器在FPGA上的分析设计 总被引:1,自引:0,他引:1
提出了一种在新型的硬件平台FPGA上分析和设计一种通用的模糊控制器,首先对模糊控制器的工作原理进行分析.然后使用自顶向下的设计方法对模糊控制器的各个模块进行硬件描述语言VHDL分层设计,最后在FPGA芯片上实现了该模糊控制器.结果表明,该模糊控制器的设计方法是可行的,并且对于不同的控制对象,只需修改模糊控制表,就可应用于各种实际的工业生产控制中. 相似文献
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将模糊逻辑系统引入预测控制,对一类非线性离散系统提出了直接自适应模糊预测控制的方法,此方法首先建立被控对象的预测模型;然后基于此模型直接利用模糊逻辑系统设计预测控制器,并基于跟踪误差对控制器参数中的未知向量进行自适应调整;最后证明了此方法可使跟踪误差收敛到原点的一个小邻域内。 相似文献
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This article presents a direct adaptive fuzzy control scheme for a class of uncertain continuous-time multi-input multi-output nonlinear (MIMO) dynamic systems. Within this scheme, fuzzy systems are employed to approximate an unknown ideal controller that can achieve control objectives. The adjustable parameters of the used fuzzy systems are updated using a gradient descent algorithm that is designed to minimize the error between the unknown ideal controller and the fuzzy controller. The stability analysis of the closed-loop system is performed using a Lyapunov approach. In particular, it is shown that the tracking errors are bounded and converge to a neighborhood of the origin. Simulations performed on a two-link robot manipulator illustrate the approach and exhibit its performance. 相似文献
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Jihong Lee 《Fuzzy Systems, IEEE Transactions on》1993,1(4):298-301
To improve limitations of fuzzy PI controller especially when applied to high order systems, we propose two types of fuzzy logic controllers that take out appropriate amounts of accumulated control input according to fuzzily described situations in addition to the incremental control input calculated by conventional fuzzy PI controllers. The structures of the proposed controller were motivated by the problems of fuzzy PI controllers that they generally give inevitable overshoot when one tries to reduce rise time of response especially when a system of order higher than one is under consideration. Since the undesirable characteristics of the fuzzy PI controller are caused by integrating operation of the controller, even though the integrator itself is introduced to to overcome steady state error in response, we propose two fuzzy controllers that fuzzily clear out integrated quantities according to situation. The first controller determines the fuzzy resetting rate by situations described fuzzily by error and error rate, and the second one by error and control input. The two structures both give reduced rise time as well as small overshoot 相似文献
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未知参数多变量线性系统自适应模糊广义预测控制 总被引:2,自引:0,他引:2
对未知参数多变量线性系统提出了自适应模糊广义预测控制方法.该方法直接用模糊逻辑系统组成的向量设计广义预测控制器,并基于广义误差向量估计值对控制器中的未知向量和广义误差估计值中的未知矩阵进行白适应调整.该方法不但能保证闭环系统所有信号有界,而且可使广义误差向量收敛到原点的一个邻域内. 相似文献