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基于模糊免疫PID的超声电机控制

韩晓斌 于明礼

韩晓斌, 于明礼. 基于模糊免疫PID的超声电机控制[J]. 机械科学与技术, 2015, 34(10): 1614-1620. doi: 10.13433/j.cnki.1003-8728.2015.1026
引用本文: 韩晓斌, 于明礼. 基于模糊免疫PID的超声电机控制[J]. 机械科学与技术, 2015, 34(10): 1614-1620. doi: 10.13433/j.cnki.1003-8728.2015.1026
Han Xiaobin, Yu Mingli. Ultrasonic Motor Control with Fuzzy Immune PID Control Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(10): 1614-1620. doi: 10.13433/j.cnki.1003-8728.2015.1026
Citation: Han Xiaobin, Yu Mingli. Ultrasonic Motor Control with Fuzzy Immune PID Control Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(10): 1614-1620. doi: 10.13433/j.cnki.1003-8728.2015.1026

基于模糊免疫PID的超声电机控制

doi: 10.13433/j.cnki.1003-8728.2015.1026
基金项目: 

国家自然科学基金项目(11102081)资助

详细信息
    作者简介:

    韩晓斌(1987-),硕士研究生,研究方向机械振动主动控制,hxb211@gmail.com

    通讯作者:

    于明礼,副教授,博士,meeyml@nuaa.edu.cn

Ultrasonic Motor Control with Fuzzy Immune PID Control Method

  • 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。
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出版历程
  • 收稿日期:  2013-12-22
  • 刊出日期:  2015-10-05

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