CN102968055A  Fuzzy PID (Proportion Integration Differentiation) controller based on genetic algorithm and control method thereof  Google Patents
Fuzzy PID (Proportion Integration Differentiation) controller based on genetic algorithm and control method thereof Download PDFInfo
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 CN102968055A CN102968055A CN2012105210990A CN201210521099A CN102968055A CN 102968055 A CN102968055 A CN 102968055A CN 2012105210990 A CN2012105210990 A CN 2012105210990A CN 201210521099 A CN201210521099 A CN 201210521099A CN 102968055 A CN102968055 A CN 102968055A
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Abstract
The invention discloses a fuzzy PID (Proportion Integration Differentiation) controller based on genetic algorithm and a control method thereof. The control method comprises the following steps in sequence: controlling a controlled object by a fuzzy control algorithm; dynamically generating three parameters of the PID controller in an online manner; selecting a proper fitness function by virtue of the genetic algorithm; searching based on the fitness function of each individual in the population; increasing the speed of convergence of the genetic algorithm; calculating to obtain the optimal solution; and further optimizing three basic parameters output in the fuzzy control. By adopting the control method, dynamic and static performances of a control system can be improved while the accuracy in control detection is ensured.
Description
Technical field
The present invention particularly relates to a kind of fuzzy controller based on genetic algorithm and control method thereof about a kind of PID controller and control method thereof.
Background technology
PID (proportionalintegraldifferential) controller is as existing more than the 70 year history of practical the earliest controller, remain now most widely used industrial control unit (ICU), the PID controller is easily understood, do not need the condition precedents such as accurate system model in the use, thereby become the controller that is most widely used.
Most popular in the at present practical application is conventional PID control strategy, its principle is simple, good stability, but because ratio, integration, differential three basic parameter in the conventional PID control, just can not change again in case adjust, therefore can not well control strong nonlinearity or the stronger system of unknown disturbances.Because fuzzy control can effectively be controlled the nonlinear system of complexity, therefore the fuzzy controller based on fuzzy control arises at the historic moment.
Yet, in general Fuzzy control system, the rule of fuzzy control is to derive from the expert of those control professional domains and technician's professional knowledge basically, has sizable artificial subjectivity, for actual control system those complex nonlinears and that stronger random perturbation is arranged, these control laws can not say entirely accurate, and sometimes even larger discrepancy may occur, and choosing of its subordinate function also has similar abovementioned situation.
Summary of the invention
For overcoming abovementioned the deficiencies in the prior art, the present invention's purpose is to provide a kind of fuzzy controller based on genetic algorithm and control method thereof, it utilizes FUZZY ALGORITHMS FOR CONTROL that traditional PID control is improved, adjust online three main control parameters in the PID control system by FUZZY ALGORITHMS FOR CONTROL, can adapt with realtime kineticcontrol system, guaranteeing that control detects accurately on the basis, has improved the dynamic and stalic state performance of control system.
For reaching abovementioned and other purpose, the present invention proposes a kind of fuzzy controller based on genetic algorithm, comprise the PID controller, the fuzzy control module, wherein this fuzzy controller also comprises the genetic algorithm optimization module, the FUZZY ALGORITHMS FOR CONTROL of utilizing this fuzzy control module realizes controlled device is controlled, online three parameters that dynamically generate this PID controller, this genetic algorithm optimization module is selected suitable fitness function in Optimizing Search, utilize in the population each individual fitness value to search for, increase the speed of convergence of genetic algorithm, calculate optimum solution, further optimize with these three parameters that this fuzzy control module is exported.
Further, this fuzzy control module compares exact value and the setting value of controlled volume, obtain error, and calculate error rate, then error is quantized respectively to blur into fuzzy quantity with error rate, again by error, error rate and fuzzy relation matrix by inference composition rule carry out fuzzy decision, obtain fuzzy control quantity, act on controlled device, so circulation is gone down, and realizes the control to controlled device.
Further, this genetic algorithm optimization module utilizes genetic algorithms use colony mode purposefunction space to be carried out the parallel search of multi thread.
Further, this fuzzy controller is used for the linear motor control system based on the parcel post logistics transmission.
Further, this objective function is:
Wherein, e (t) is systematic error, and u (t) is the output of PID controller, t
_{u}Be the rise time, w
_{1}, w
_{2}, w
_{3}Be weights.
Further, this fitness function is the inverse of this objective function, F=1/J.
Further, three parameters after this genetic algorithm optimization module optimization are:
Kp＝Kpc+ΔKp*Pkp；
Ki＝Kic+ΔKi*Pki；
Kd＝Kdc+ΔKd*Pkd；
Wherein, Kpc, Kic, Kdc are the constant that the three basic parameter of this PID controller is preset first, and Δ Kp, Δ Ki, Δ Kd are the output of this fuzzy control module, Pkp, and Pki, Pkd is for being calculated the scale factor with respect to three parameters by genetic algorithm.
For reaching abovementioned and other purpose, the present invention also provides a kind of fuzzy PID control method based on genetic algorithm, comprises the steps
Step 1 utilizes FUZZY ALGORITHMS FOR CONTROL that controlled device is controlled, online three parameters that dynamically generate the PID controller; And
Step 2, utilize genetic algorithm to select suitable fitness function, utilize in the population each individual fitness value to search for, increase the speed of convergence of genetic algorithm, calculate optimum solution, further optimize with this three basic parameter that fuzzy control is exported.
Further, in step 1, this FUZZY ALGORITHMS FOR CONTROL compares exact value and the setting value of controlled volume, obtains error, and calculates error rate, then error is quantized respectively to blur into fuzzy quantity with error rate, again by error, error rate and fuzzy relation matrix by inference composition rule carry out fuzzy decision, obtain fuzzy control quantity, act on controlled device, so circulation is gone down, and realizes the control to controlled device.
Further, the method is used for the linear motor control system based on the parcel post logistics transmission.
Compared with prior art, a kind of fuzzy controller and control method thereof based on genetic algorithm of the present invention passed through in traditional PID control system, utilize the fuzzy control module to the three basic control parameter (ratio of PID controller, integration and differentiation) carries out online dynamically adjustment, the dynamic change of adaptive control control system, in addition, for overcoming the artificial subjectivity of fuzzy control rule in the fuzzy control, the present invention also utilizes genetic algorithm that three parameters exporting in the fuzzy controller are carried out again suboptimization, make fuzzy control rule be more suitable for improving the dynamic and stalic state performance of control system in dynamic objective control object system.
Description of drawings
Fig. 1 is the system architecture diagram of a kind of fuzzy controller based on genetic algorithm of the present invention;
Fig. 2 is the system architecture diagram of the preferred embodiment of a kind of fuzzy controller based on genetic algorithm of the present invention;
Fig. 3 is the synoptic diagram that the subordinate function after quantizing factor changes among the present invention changes;
Fig. 4 is the evolution trajectory diagram of adaptive value function in the simulation process of preferred embodiment of the present invention;
Fig. 5 is step response curve comparison diagram in the simulation process of preferred embodiment of the present invention;
Fig. 6 is the flow chart of steps of a kind of fuzzy PID control method based on genetic algorithm of the present invention.
Embodiment
Below by specific instantiation and accompanying drawings embodiments of the present invention, those skilled in the art can understand other advantage of the present invention and effect easily by content disclosed in the present specification.The present invention also can be implemented or be used by other different instantiation, and the every details in this instructions also can be based on different viewpoints and application, carries out various modifications and change under the spirit of the present invention not deviating from.
Fig. 1 is the system architecture diagram of a kind of fuzzy controller based on genetic algorithm of the present invention.As shown in Figure 1, a kind of fuzzy controller based on genetic algorithm of a kind of the present invention of the present invention comprises at least: PID controller 10, fuzzy control module 11 and genetic algorithm optimization module 12.
Wherein, fuzzy control module 11 utilizes online three parameters that dynamically generate PID controller 10 of FUZZY ALGORITHMS FOR CONTROL, FUZZY ALGORITHMS FOR CONTROL compares exact value and the setting value of controlled volume, obtain error E, and calculate error rate EC, then E and EC are quantized respectively to blur into fuzzy quantity e, ec, again by e, ec and fuzzy relation matrix by inference composition rule carry out fuzzy decision, obtain fuzzy control quantity u, act on controlled device, so circulation is gone down, and realizes the control to controlled device; Genetic algorithm optimization module 12 selects suitable fitness function to utilize in the population each individual fitness value to search in Optimizing Search, increase the speed of convergence of genetic algorithm, calculate optimum solution, further optimize with this three basic parameter that fuzzy control module 11 is exported, make whole control system reach optimum control.
Fig. 2 is the system architecture diagram of the preferred embodiment of a kind of fuzzy controller based on genetic algorithm of the present invention, below will cooperate Fig. 2 to further specify the present invention.
Fuzzy controller commonly used belongs to the tactic pattern of the single output of dual input more in the at present industrial process control, as shown in Figure 3, wherein input, output variable is respectively E (error), EC (error rate) and U (control output), FUZZY ALGORITHMS FOR CONTROL compares exact value and the setting value of controlled volume, obtain error E, and calculate error rate EC, then E and EC are quantized respectively to blur into fuzzy quantity e, ec, again by e, ec and fuzzy relation matrix by inference composition rule carry out fuzzy decision, obtain fuzzy control quantity u, at last this fuzzy control quantity ambiguity solution is become accurately amount U, act on controlled device, so circulation is gone down, and realizes the control to controlled device.
The selfadjusting of quantized factor and proportional factor is that fuzzy control is applied to the most effective means in the in real time control, but controller ONLINE RECOGNITION control effect can be carried out from adjusting quantification or scale parameter according to rise time, overshoot, steadystate error and oscillation and divergence degree etc.
Fig. 3 is the synoptic diagram that the subordinate function after quantizing factor changes among the present invention changes, as seen, the adjustment of quantizing factor has produced impact for the rule output of fuzzy controller, the selfadjusting that also is quantizing factor makes fuzzy control rule and subordinate function that variation occur, then under same error and its rate of change, change has occured in the value of output U, makes by the dynamic and static characteristic of control object variation has occured.In like manner, in preferred embodiment of the present invention, directly change the value of scale factor, variation has occured in the value of then exporting U, the variation of the quantizing factor of mentioning above being equivalent to.Can use certain optimization method, rule and subordinate function according to certain system performance index is optimized then can greatly reduce artificial subjectivity, greatly improve the dynamic and static performance of control system.Therefore the present invention adopts genetic algorithm to come the Comparative Examples factor to carry out optimizing.
In fuzzy control, after fuzzy rule and subordinate function were determined, because the limited amount of control law, then the output valve of fuzzy control also was limited.And when utilizing the genetic algorithm Comparative Examples factor to be optimized adjustment, the value of output will no longer be limited in original quantitative range, and to some degree, the regular quantity that is equivalent to fuzzy control increases, and this is irrealizable in the fuzzy control of routine.
In preferred embodiment of the present invention, the genetic algorithms use colony mode that genetic algorithm optimization module 12 utilizes is carried out the parallel search of multi thread to purposefunction space, can not be absorbed in local minimum point, only need to find the solution the value of objective function, and do not need other information, and continuity, the differentiability of objective function do not required, easy to use, therefore the selection of separating and generation probabilistic manner have strong adaptive faculty and robustness.
In preferred embodiment of the present invention, simulation object is based on the linear motor control system of parcel post logistics transmission, because linear electric motors have saved the intermediate buffering links such as chain, gear, therefore has stronger nonlinear.
Do not considering that in the situation that motor is turned, the present invention calculates its stress model suc as formula (1) according to its characteristics in conjunction with stressing conditions (comprising thrust, various friction force) analysis meter in practice.
(M+Δm)a
_{c}＝F
_{1}μ
_{1}[(M+Δm)g+KF
_{1}]
(μ
_{2}μ
_{1})exp(av)[(M+Δm)g+KF
_{1}]
μ
_{3}[M+Δm+(KF
_{1})/g] (1)
In following formula: first is linear motor pushing force (F1), and second is force of sliding friction, and the 3rd is stiction, and the 4th is sticking friction force.In the above Normal Force impact of all having considered motor in every, COEFFICIENT K and F1 in namely every.The electric current loop effect of considering linear electric motors is interior and the relevant parameters of system measured, can be with following order transfer function as its mathematical model:
Wherein: M is taken as 5.2 (kg) for delivery mail quality, and d is that friction factor is taken as 0.8, and L is taken as 0.0165 (H), and r is taken as 1.7 (Ω), and K is decided to be 60.
1, parameter is selected:
In preferred embodiment of the present invention, preset first certain constant for the three basic parameter of PID controller, by normal conditions, the span that limits three parameters is: Kpc=[0～20], Kic=[0～1], Kdc=[0～1], the parameter preset value is:
Kpc＝5.8，
Kpi＝0.0896，
Kpd＝0.0451，
This group parameter proves through many experiments, when being applied to abovementioned formula (1), its PID control performance has been better than the control performance of FuzzyPID, that is to say in this case, the rule of fuzzy control does not embody its superior performance (being limited under the fixed condition of empirical model), can not react well objective control status, but after scale factor is optimized, the change that is optimized of fuzzy inference rule and subordinate function, reduced wherein irrational artificial subjectivity, can press close to preferably the control target property of objective reality, last simulation results show its effective and feasible property.
The output of fuzzy control relates to the increment of Kp, Ki, Kd, i.e. Δ Kp, Δ Ki, Δ Kd, and the domain that defines respectively on the Fuzzy collection according to the variation range of each parameter is:
E、EC＝{3，2，1，0，1，2，3}
Kp、Ki、Kd＝{3，2，1，0，1，2，3}
Calculated with respect to Kp by genetic algorithm, Ki, the scale factor of Kd is: Pkp, Pki, Pkd.The three basic parameter of so last PID control is corrected for:
Kp＝Kpc+ΔKp*Pkp
Ki＝Kic+ΔKi*Pki
Kd＝Kdc+ΔKd*Pkd
2, the Code And Decode of Optimal Parameters
The number of parameters that needs to optimize in genetic algorithm is 3, be respectively Pkp, Pki, Pkd, it is the scale factor of corresponding ratio, integration, three parameters of differential respectively, and the span of three parameters is: Pkp=[0.5,5], the span of Pki, Pkd all limit into: [0.5,1.5],, because in PID control, Kp is larger on the rise time in the control procedure, overshoot value, the impact of stabilization time, so that the span of its corresponding scale factor is chosen is larger.The coding method of adopting is the real coding method, and real coding has the simple and Fast Convergent equation advantage of coding.
3, adaptive value function and each other parameter are chosen
Genetic algorithm is not utilized external information substantially in Optimizing Search, only take the adaptive value function as foundation, utilize in the population each individual fitness value to search for.Therefore can choosing of fitness function directly have influence on the speed of convergence of genetic algorithm and find optimum solution, and the present invention adopts following objective function:
In the formula: e (t) is systematic error, and u (t) is the output of controller, and tu is the rise time, w1, and w2, w3 are weights.Excessive in order to prevent controlling energy, in objective function, added the quadratic term of control inputs.
Because genetic manipulation carries out according to the adaptive value size, and adaptive value is nonnegative, and the direction that the optimization direction of objective function should increase corresponding to adaptive value, thus the inverse of selecting Fcn as fitness function, that is: F=1/J.
When the operation genetic algorithm program, get the big or small n=60 of population, evolutionary generation is 200, crossover probability Pc=0.9, variation probability P m=0.008, w1=0.999, w2=0.001, w3=2.0.
For preventing that the genetic algorithm optimizing is tending towards locally optimal solution, adopt to keep the optimum individual method, the optimum individual of parent (being made as A) is awarded reservation, when with the optimum individual (being made as B) of filial generation when comparing, if A inferior to B, then replaces A with B, if A is better than B, then still keep A.Fact proved that this way has good effect.
Numerical value through resulting three parameters behind the genetic optimization is respectively:
Pkp＝3.5737
Pkd＝1.3421
Pki＝0.5627
In preferred embodiment of the present invention, simulated program adopts the Matlab programming, genetic algorithm, fuzzy reasoning and pid control algorithm is combined debug.Fig. 4 is the evolution trajectory diagram of adaptive value function in the simulation process of preferred embodiment of the present invention, Fig. 5 is step response curve comparison diagram in the simulation process of preferred embodiment of the present invention, simulation result shows through the fuzzy controller behind the genetic algorithm optimization can greatly reduce artificial subjectivity than traditional fuzzyPID control device, greatly improves the dynamic and static performance of control system.
Fig. 6 is the flow chart of steps of a kind of fuzzy PID control method based on genetic algorithm of the present invention.As shown in Figure 6, a kind of fuzzy PID control method based on genetic algorithm of the present invention comprises the steps:
Step 601 utilizes FUZZY ALGORITHMS FOR CONTROL that controlled device is controlled, online three parameters that dynamically generate the PID controller; And
Step 602, utilize genetic algorithm to select suitable fitness function, utilize in the population each individual fitness value to search for, increase the speed of convergence of genetic algorithm, calculate optimum solution, further optimize with this three basic parameter that fuzzy control is exported, make whole control system reach optimum control.
In step 601, FUZZY ALGORITHMS FOR CONTROL compares exact value and the setting value of controlled volume, obtain error E, and calculate error rate EC, then E and EC are quantized respectively to blur into fuzzy quantity e, ec, again by e, ec and fuzzy relation matrix by inference composition rule carry out fuzzy decision, obtain fuzzy control quantity u, act on controlled device, so circulation is gone down, and realizes the control to controlled device.
In step 602, genetic algorithms use colony mode is carried out the parallel search of multi thread to purposefunction space, can not be absorbed in local minimum point, only need to find the solution the value of objective function, and do not need other information, and continuity, the differentiability of objective function do not required, easy to use, therefore the selection of separating and generation probabilistic manner have strong adaptive faculty and robustness.
Equally, also be based on the linear motor control system of parcel post logistics transmission at this simulation object, do not considering to calculate its stress model suc as formula (1) according to its characteristics in conjunction with stressing conditions (comprising thrust, various friction force) analysis meter in practice in the situation that motor is turned.
(M+Δm)a
_{c}＝F
_{1}μ
_{1}[(M+Δm)g+KF
_{1}]
(μ
_{2}μ
_{1})exp(av)[(M+Δm)g+KF
_{1}]
μ
_{3}[M+Δm+(KF
_{1})/g] (1)
In following formula: first is linear motor pushing force (F1), and second is force of sliding friction, and the 3rd is stiction, and the 4th is sticking friction force.In the above Normal Force impact of all having considered motor in every, COEFFICIENT K and F 1 in namely every.The electric current loop effect of considering linear electric motors is interior and the relevant parameters of system measured, can be with following order transfer function as its mathematical model:
Wherein: M is taken as 5.2 (kg) for delivery mail quality, and d is that friction factor is taken as 0.8, and L is taken as 0.0165 (H), and r is taken as 1.7 (Ω), and K is decided to be 60.
In this control program, preset first certain constant for the three basic parameter of PID controller, by normal conditions, the span that limits three parameters is: Kpc=[0～20], Kic=[0～1], Kdc=[0～1], the parameter preset value is:
Kpc＝5.8，
Kpi＝0.0896，
Kpd＝0.0451，
This group parameter proves through many experiments, when being applied to abovementioned formula (1), its PID control performance has been better than the control performance of FuzzyPID, that is to say in this case, the rule of fuzzy control does not embody its superior performance (being limited under the fixed condition of empirical model), can not react well objective control status, but after scale factor is optimized, the change that is optimized of fuzzy inference rule and subordinate function, reduced wherein irrational artificial subjectivity, can press close to preferably the control target property of objective reality, last simulation results show its effective and feasible property.
The output of fuzzy control relates to the increment of Kp, Ki, Kd, i.e. Δ Kp, Δ Ki, Δ Kd, and the domain that defines respectively on the Fuzzy collection according to the variation range of each parameter is:
E、EC＝{3，2，1，0，1，2，3}
Kp、Ki、Kd＝{3，2，1，0，1，2，3}
Calculated with respect to Kp by genetic algorithm, Ki, the scale factor of Kd is: Pkp, Pki, Pkd.The three basic parameter of so last PID control is corrected for:
Kp＝Kpc+ΔKp*Pkp
Ki＝Kic+ΔKi*Pki
Kd＝Kdc+ΔKd*Pkd
The number of parameters that needs to optimize in genetic algorithm is 3, be respectively Pkp, Pki, Pkd, it is the scale factor of corresponding ratio, integration, three parameters of differential respectively, and the span of three parameters is: Pkp=[0.5,5], the span of Pki, Pkd all limit into: [0.5,1.5],, because in PID control, Kp is larger on the rise time in the control procedure, overshoot value, the impact of stabilization time, so that the span of its corresponding scale factor is chosen is larger.The coding method of adopting is the real coding method, and real coding has the simple and Fast Convergent equation advantage of coding.
Genetic algorithm is not utilized external information substantially in Optimizing Search, only take the adaptive value function as foundation, utilize in the population each individual fitness value to search for.Therefore can choosing of fitness function directly have influence on the speed of convergence of genetic algorithm and find optimum solution, adopts objective function here:
In the formula: e (t) is systematic error, and u (t) is the output of controller, and tu is the rise time, w1, and w2, w3 are weights.Excessive in order to prevent controlling energy, in objective function, added the quadratic term of control inputs.
Because genetic manipulation is according to carrying out just when size, and just when being nonnegative, and the optimization direction of objective function should be corresponding to the direction just when increase, thus the inverse of selecting Fcn as fitness function, that is: F=1/J.
When the operation genetic algorithm program, get the big or small n=60 of population, evolutionary generation is 200, crossover probability Pc=0.9, variation probability P m=0.008, w1=0.999, w2=0.001, w3=2.0.
For preventing that the genetic algorithm optimizing is tending towards locally optimal solution, adopt to keep the optimum individual method, the optimum individual of parent (being made as A) is awarded reservation, when with the optimum individual (being made as B) of filial generation when comparing, if A inferior to B, then replaces A with B, if A is better than B, then still keep A.Fact proved that this way has good effect.
Numerical value through resulting three parameters behind the genetic optimization is respectively:
Pkp＝3.5737
Pkd＝1.3421
Pki＝0.5627
In sum, a kind of fuzzy controller and control method thereof based on genetic algorithm of the present invention passed through in traditional PID control system, utilize the fuzzy control module to the three basic control parameter (ratio of PID controller, integration and differentiation) carries out online dynamically adjustment, the dynamic change of adaptive control control system, in addition, for overcoming the artificial subjectivity of fuzzy control rule in the fuzzy control, the present invention also utilizes genetic algorithm that three parameters exporting in the fuzzy controller are carried out again suboptimization, make fuzzy control rule be more suitable for improving the dynamic and stalic state performance of control system in dynamic objective control object system.
Abovedescribed embodiment is illustrative principle of the present invention and effect thereof only, but not is used for restriction the present invention.Any those skilled in the art all can be under spirit of the present invention and category, and abovedescribed embodiment is modified and changed.Therefore, the scope of the present invention should be listed such as claims.
Claims (10)
1. fuzzy controller based on genetic algorithm, comprise the PID controller, the fuzzy control module, it is characterized in that: this fuzzy controller also comprises the genetic algorithm optimization module, the FUZZY ALGORITHMS FOR CONTROL of utilizing this fuzzy control module realizes controlled device is controlled, online three parameters that dynamically generate this PID controller, this genetic algorithm optimization module is selected suitable fitness function in Optimizing Search, utilize in the population each individual fitness value to search for, increase the speed of convergence of genetic algorithm, calculate optimum solution, further optimize with these three parameters that this fuzzy control module is exported.
2. the fuzzy controller based on genetic algorithm as claimed in claim 1, it is characterized in that: this fuzzy control module compares exact value and the setting value of controlled volume, obtain error, and calculate error rate, then error is quantized respectively to blur into fuzzy quantity with error rate, again by error, error rate and fuzzy relation matrix by inference composition rule carry out fuzzy decision, obtain fuzzy control quantity, act on controlled device, so circulation is gone down, and realizes the control to controlled device.
3. the fuzzy controller based on genetic algorithm as claimed in claim 1, it is characterized in that: this genetic algorithm optimization module utilizes genetic algorithms use colony mode purposefunction space to be carried out the parallel search of multi thread.
4. the fuzzy controller based on genetic algorithm as claimed in claim 3 is characterized in that: this fuzzy controller is used for the linear motor control system based on the parcel post logistics transmission.
5. the fuzzy controller based on genetic algorithm as claimed in claim 4, it is characterized in that: this objective function is:
Wherein, e (t) is systematic error, and u (t) is the output of PID controller, t
_{u}Be the rise time, w
_{1}, w
_{2}, w
_{3}Be weights.
6. the fuzzy controller based on genetic algorithm as claimed in claim 5 is characterized in that: this fitness function is the inverse of this objective function, F=1/J.
7. the fuzzy controller based on genetic algorithm as claimed in claim 6 is characterized in that, three parameters after this genetic algorithm optimization module optimization are:
Kp＝Kpc+ΔKp*Pkp；
Ki＝Kic+ΔKi*Pki；
Kd＝Kdc+ΔKd*Pkd；
Wherein, Kpc, Kic, Kdc are the constant that the three basic parameter of this PID controller is preset first, and Δ Kp, Δ Ki, Δ Kd are the output of this fuzzy control module, Pkp, and Pki, Pkd is for being calculated the scale factor with respect to three parameters by genetic algorithm.
8. the fuzzy PID control method based on genetic algorithm comprises the steps
Step 1 utilizes FUZZY ALGORITHMS FOR CONTROL that controlled device is controlled, online three parameters that dynamically generate the PID controller; And
Step 2, utilize genetic algorithm to select suitable fitness function, utilize in the population each individual fitness value to search for, increase the speed of convergence of genetic algorithm, calculate optimum solution, further optimize with this three basic parameter that fuzzy control is exported.
9. a kind of fuzzy PID control method based on genetic algorithm as claimed in claim 8, it is characterized in that: in step 1, this FUZZY ALGORITHMS FOR CONTROL compares exact value and the setting value of controlled volume, obtain error, and calculate error rate, then error is quantized respectively to blur into fuzzy quantity with error rate, again by error, error rate and fuzzy relation matrix by inference composition rule carry out fuzzy decision, obtain fuzzy control quantity, act on controlled device, so circulation is gone down, and realizes the control to controlled device.
10. a kind of fuzzy PID control method based on genetic algorithm as claimed in claim 9 is characterized in that: the method is used for the linear motor control system based on the parcel post logistics transmission.
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