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1、模糊PID控制及其MATLAB實(shí)現(xiàn)姓名：專業(yè)班級：學(xué)號：授課教師：摘要PID（比例積分微分）控制具有結(jié)構(gòu)簡單、穩(wěn)定性能好、可靠性高等優(yōu)點(diǎn),尤其適用于可建立精確數(shù)學(xué)模型的控制系統(tǒng)。而對于一些多變量、非線性、時滯的系統(tǒng)，傳統(tǒng)的PID控制器并不能達(dá)到預(yù)期的效果。隨著模糊數(shù)學(xué)的發(fā)展，模糊控制的思想逐漸得到控制工程師們的重視，各種模糊控制器也應(yīng)運(yùn)而生。而單純的模糊控制器有其自身的缺陷—控制效果很粗糙、控制精度無法達(dá)到預(yù)期標(biāo)準(zhǔn)。但利用傳統(tǒng)的PID控制器和模糊控制器結(jié)合形成的模糊自適應(yīng)的PID控制器可以彌補(bǔ)其缺陷；它將系統(tǒng)對應(yīng)的誤差和誤
2、差變化率反饋給模糊控制器進(jìn)而確定相關(guān)參數(shù)，保證系統(tǒng)工作在最佳狀態(tài)，實(shí)現(xiàn)優(yōu)良的控制效果。論文介紹了參數(shù)自適應(yīng)模糊PID控制器的設(shè)計(jì)方法和步驟。并利用MATLAB中的SIMULINK和模糊邏輯推理系統(tǒng)工具箱進(jìn)行了控制系統(tǒng)的仿真研究，并簡要地分析了對應(yīng)的仿真數(shù)據(jù)。關(guān)鍵詞:經(jīng)典PID控制;模糊控制;自適應(yīng)模糊PID控制器;參數(shù)整定;MATLAB仿真ABSTRACTPID(ProportionIntegrationDifferentiation)control,withlotsofadvantagesincludingsimples
3、tructure,goodstabilityandhighreliability,isquitesuitabletoestablishespeciallythecontrolsystemwhichaccuratemathematicalmodelisavailableandneeded.However,takenmultivariable,nonlinearandtime-lagintoconsideration,traditionalPIDcontrollercannotreachtheexpectedeffect.Al
4、ongwiththedevelopmentofFuzzyMathematics,controlengineersgraduallypaymuchattentiontotheideaofFuzzyControl,thuspromotingtheinventionoffuzzycontrollers.However,simplefuzzycontrollerhasitsowndefect,wherecontroleffectisquitecoarseandthecontrolprecisioncannotreachtheexp
5、ectedlevel.Therefore,theFuzzyAdaptivePIDControlleriscreatedbytakingadvantageofthesuperiorityofPIDControllerandFuzzyController.Takenthiscontrollerinuse,thecorrespondingerroranditsdifferentialerrorofthecontrolsystemcanbefeedbackedtotheFuzzyLogicController.Moreover,t
6、hethreeparametersofPIDControllerisdeterminedonlinethroughfuzzification,fuzzyreasoninganddefuzzificationofthefuzzysystemtomaintainbetterworkingconditionthanthetraditionalPIDcontroller.Meanwhile，thedesignmethodandgeneralstepsareintroducedoftheParameterself-settingFu
7、zzyPIDController.Eventually,theFuzzyInferenceSystemsToolboxandSIMULINKtoolboxareusedtosimulateControlSystem.TheresultsofthesimulationshowthatSelf-organizingFuzzyControlSystemcangetabettereffectthantheClassicalPIDcontrolledevidently.Keywords:ClassicPIDcontrol;Fuzzy
8、Control;Parameterstuning;theFuzzyAdaptivePIDController;MATLABsimulation目錄第一章緒論11.1研究的背景及意義11.2經(jīng)典PID控制系統(tǒng)的分類與簡介21.2.1P控制21.2.2PI控制21.2.3PD控制21.2.4比例積分微分（P
