一种新型参数非线性模糊PID控制方法

针对无先验知识的情况下，PID控制器结构和参数难以优化问题，巧妙地将进化规划与PID控制方法相结合，设计了一种直接优化模糊控制器结构和参数的方法。为使待优化的控制器参数较少，以减小计算复杂度，对传统的PID控制器的结构进行了修改，且在控制中不使用量化因子。利用进化规划方法对控制器的结构和参数同时优化，既克服了传统PID参数整定方法依赖于模型和易于限人局部极小的缺点，又避开传统GA方法中不同结构规划基的交叉难实现。实际控制中利用优化后的控制器对系统进行实时控制，算法的运算时间仅为一组规则基的前向计算时间，大大改善了系统的动静态性能，仿真实验证明了文中方法的优点。

A New Designing Method of PID Control with Nonlinear Fuzzy Parameter

A new method based on evolutionary programming is designed to optimize the structure and parameters of fuzzy PID controller without prior knowledge directly in the paper.In order to make the number of parameters of controller small,the structure of conventional PID controller is modified,and the quantitative factors in conventional is deserted,so computation cost of the method is smaller than conventional method.The difficulties of optimizing parameter and structure of fuzzy control without prior experience is avoided,and difficulty of crossover operator for different structure in genetic algorithm is also avoided.In real time control,only the optional fuzzy bases is used to control system,the calculation time is only equal to calculate a group rule bases.The effectiveness of the method is proved by simulation experiment.