摘 要
随着现代工业过程的不断复杂化，实际生产过程中的非线性、不确定性和复杂性的增加，传统的PID 控制器已经不能满足我们的实际要求，因此我们力图将近些年发展起来的一些先进的智能控制方法，应用到PID 控制领域当中。
近年来，模糊控制已成为智能自动控制研究中最为活跃而又富有成果的领域。其中模糊PID 控制技术扮演了十分重要的角色，并且仍将成为未来研究与应用的重点技术之一[1]。混合型模糊PID 控制的复合控制技术在过程控制中得到了广泛的应用，如双模FUZZY-PID 控制和P-FUZZY-PID 控制等等。
多模复合控制是在误差不同范围内对多个控制器进行切换来实现分段复合控制，它结合了模糊控制和传统线性PID 控制的优点，使得系统响应在暂态时有着模糊控制器的快速性和稳定性的特点，稳态时有线性PID 控制器的高精度特性，因而系统具有较好控制特性。
由于常规多模复合控制是按照事先设计的切换阀值由程序自动进行切换，所以它们存在阀值如何选取和切换扰动等问题。本文设计了基于模糊规则知识的切换原则，避免了切换点的如何选取，实现了无扰切换。此控制算法简单，鲁棒性、抗干扰能力及跟踪特性均优于常规的阀值切换复合控制。
本文所涉及的试验结果均是在Microsoft Windows XP Professional 2002版本环境下并在Matlab7.01 平台上进行仿真实验得到的。仿真结果表明：本文中的模糊知识切换控制方法具有良好的控制能力。
Study on Intelligent PID Controller Based on
Knowledge
Abstract
Along with the complication of modern industrial process, and the increase of nonlinearity, uncertainty and complexity during the practical production processes, the conventional PID controller can no longer meet our requirement, therefore, some advanced intelligent control methods developed in recent years have been applied in the PID control field.
Fuzzy control has become the most active and fruitful field in the study of Intelligent Automatic Control ,in which Fuzzy PID control not only plays a very important role, but also will be one of main technology in future research and applications. Multiple compound fuzzy PID control employs widely in the process among fuzzy PID, such as Fuzzy-PID control, P-Fuzzy-PID control etc.
Multiple compound control, refer to switch from one regulator to another in the different range of error value to realize compound control. By combining the advantages of Fuzzy logic control(FLC) and conventional linear PID controller,the response of multiple compound control is speed and stable in the dynamic state and the conventional linear PID controller guarantees zero-error in the steady state, so they achieved good –control performance.
Common multiple compound control is switched automatically by program based on predeterminate error value. Therefore, how to select suitable error value and disturbance during switching are unavoidable defects. However, a new fuzzy switching based on fuzzy rules knowledge proposed in this thesis can dodge those shortages. This algorithm is simple, and control performances, i.e., robustness, the capacity of the anti-interference, tracking, are better than common multiple compound control.
All of the simulation results mentioned in this thesis have been derived by Matlab7.01 under the Microsoft Windows XP Professional 2002. Results obtained from simulation using Matlab indicate that the proposed method based
on fuzzy rules switching has good-quality controlling ability.
目录
摘 要 ............................................................ I
Abstract ......................................................... II
第1 章绪论 ....................................................... 1
1.1 课题的来源...................................................................................................... 1
1.2 提出基于知识的背景...................................................................................... 2
1.3 模糊PID 的研究现状和发展趋势................................................................. 3
1.3.1 模糊控制.................................................................................................... 3
1.3.2 模糊PID 研究现状和发展趋势............................................................... 3
1.4 研究的目的和意义.......................................................................................... 5
1.5 研究的主要内容.............................................................................................. 6
第2 章 PID 控制器.................................................. 7
2.1 传统线性PID 控制原理................................................................................. 7
2.2 数字PID 控制................................................................................................. 8
2.2.1 位置式PID 控制算法............................................................................... 8
2.2.2 增量式PID 控制算法.................................................................
