基于模糊免疫PID的超声电机控制

摘要: 超声电机系统内在的非线性和强耦合性等特点,很难建立其适合于控制的非线性数学模型,传统的PID方法难以得到满意的控制效果。根据输入输出电压关系,利用非线性最小二乘法对通过实验获得的超声电机的频率响应数据进行参数识别,建立了超声电机的数学模型。提出了一种新型的基于模糊规则的模糊免疫PID控制器,这种方法可以在线调整PID参数来适应不同情况下的超声电机运行。通过MATLAB仿真和以TI公司的TMS320F2812 DSP为基础进行的实验表明,辨识法建立的数学模型比较准确,模糊免疫PID控制在超声电机的实时控制中取得了较好的实验效果,跟踪性能良好,具有较好的动态和静态性能。
- 超声电机 /
- 模糊 /
- 免疫 /
- 参数识别 /
- DSP
Abstract: Because of the ultrasonic motor's inherent nonlinearity and strong coupling characteristics, it is difficult to establish the nonlinear mathematical model suitable for its control. The traditional PID control method has difficulties in obtaining satisfactory results. Using the nonlinear least squares method for the ultrasonic motor's frequency response data obtained through experiments for parameter identification, we establish the mathematical model of the ultrasonic motor. This paper proposes a novel fuzzy immune PID controller based on fuzzy rules, which can adjust the PID parameters online to adapt to different situations when the ultrasonic motor is running. The simulation results with MATLAB and the experimental results with TI's TMS320F2812 DSP indicate that the parameter identification method is more accurate and that the fuzzy immune PID controller for the real-time control of the ultrasonic motor has achieved good experimental results, good tracking performance and better dynamic and static performances.
- algorithms /
- closed loop control systems /
- computational efficiency /
- computer simulation /
- controllers

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