CN106452248A - Direct current speed control mothed based on fuzzy PID control - Google Patents
Direct current speed control mothed based on fuzzy PID control Download PDFInfo
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- CN106452248A CN106452248A CN201611141792.XA CN201611141792A CN106452248A CN 106452248 A CN106452248 A CN 106452248A CN 201611141792 A CN201611141792 A CN 201611141792A CN 106452248 A CN106452248 A CN 106452248A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
Abstract
The invention provides a direct current speed control mothed based on fuzzy PID control, comprises the following steps: first, an actual rotation rate of the motor n and a rotation rate deviation e of a preset speed nref and a change rate of deviation ec are figured out, and then are fuzzified; after fuzzy, e and ec are controlled by fuzzy control rules reasoning, kp, ki and kd are acquired through fuzzification resolution. In the control process, a conventional PID controller parameter is modified online real-timely and finally rotation rate of the brushless direct current motor is adjusted by the traditional PID controller. The fuzzy control of the invention does not need to rely on the precise mathematical model of a controlled object so the invention is more stable in the control, and the non-linearity of the controlled object can be effectively suppressed; In the control process, the changes and real-time feedback of the parameter can be continuously monitored by the fuzzy PID self-tuning to idealize the control effect.
Description
Technical field
The invention belongs to DC motor speed-regulating technical field is and in particular to a kind of DC speed regulation based on fuzzy-adaptation PID control
Method.
Background technology
Direct current generator is mainly used in the mechanical and power equipments such as mining machinery, mine hoisting machine, rolling mill.But unidirectional current
Motivation is a kind of non-linear running status in speed regulation process, can not be well to direct current generator using traditional PID control
Carry out speed governing.
Traditional PID control is the mathematical model according to controlled device, and the effect of traditional PID control is based on Mathematical Models
Order of accuarcy.Although current idea about modeling and skill have greatly improved, due to a lot of controlled objects
Characteristic is difficult to grasp, and so that us is simplified the mathematical model of controlled device when setting up model or approximately, so quilt
The object controlling is extremely difficult to Utopian requirement in actual operation.Therefore, in the system of traditional PID control, we are very
The difficult further control precise degrees improving control target.
Content of the invention
One of the object of the invention is the defect for solving prior art, there is provided one kind being capable of stability contorting controlled device
The DC speed regulation method based on fuzzy-adaptation PID control.
A kind of DC speed regulation method based on fuzzy-adaptation PID control that the present invention provides, comprises the steps：
S1：Set up three fuzzy controllers, define the input value of three fuzzy controllers and the fuzzy subset of output valve；
S2：Set up the membership function of fuzzy subset and the fuzzy control model of each fuzzy controller；
S3：Membership function according to described fuzzy subset and the fuzzy control model of each fuzzy controller, apply mould
Paste compositional rule of inference obtains the fuzzy matrix table of pid control parameter；
S4：Anti fuzzy method is carried out to described fuzzy subset using centroid method, obtains the clear amount for controlling.
Further, described step S1：Set up three fuzzy controllers, define the input value of three fuzzy controllers and defeated
Go out in the fuzzy subset of value, also include：
Using rotating speed deviation and deviation variation rate as the input value of three fuzzy controllers, define described rotating speed deviation and partially
The fuzzy subset of difference rate of change, and this fuzzy subset is mapped on domain；
Using the output valve of three fuzzy controllers as the ratio of conventional PID controller, integration, differential control parameter
Correction value, define the fuzzy subset of described three fuzzy controller output valves, and this fuzzy subset be mapped on domain.
Further, the fuzzy matrix table of the pid control parameter in described step S3 is calculated as follows and obtains：
Kp=Kp0+kp *；Ki=Ki0+ki *；Kd=Kd0+kd *；
Wherein, Kp0、Ki0、Kd0For the initial design values of pid control parameter, by the parameter tuning method of conventional PID controllers
Set；kp *、ki *And kd *It is respectively the output valve of described three fuzzy controllers, can be according to the state adjust automatically of controlled device
The value of tri- control parameters of PID.
The beneficial effects of the present invention is, the present invention needs not rely on the accurate mathematical mould of controlled device using fuzzy control
Type is so as to more stable in controlled state, and can effectively suppress the nonlinear situation of controlled device；Controlling
Cheng Zhong, the Self-tuning System of fuzzy can the constantly change of monitoring parameter and parameter Real-time Feedback, so that control effect is reached
Idealization.
Brief description
Fig. 1 show the DC speed regulation method schematic diagram based on fuzzy-adaptation PID control for the present invention.
Fig. 2 show the DC speed regulation method particular flow sheet based on fuzzy-adaptation PID control for the present invention.
Specific embodiment
Describe the present invention below in conjunction with specific embodiment in detail.It should be noted that the skill described in following embodiments
The combination of art feature or technical characteristic is not construed as isolated, and they can be mutually combined thus reaching preferably
Technique effect.
As shown in figure 1, a kind of DC speed regulation method based on fuzzy-adaptation PID control that the present invention provides is as follows：
Calculate motor actual speed n and given rotating speed n firstrefDeviation e and deviation variation rate ec, then by them
Obfuscation, e and ec after obfuscation, by fuzzy control rule reasoning, obtains k after ambiguity solutionp *、ki *And kd *.In control process,
The parameter of online real time modifying conventional PID controller, finally adjusts brshless DC motor rotating speed by conventional PID controller.
As described in Figure 2, the present invention provide a kind of DC speed regulation method based on fuzzy-adaptation PID control, specifically include as
Lower step：
S1：Set up three fuzzy controllers, define the input value of three fuzzy controllers and the fuzzy subset of output valve：
Using rotating speed deviation e and deviation variation rate ec as the input value of three fuzzy controllers, define described rotating speed deviation e
Be { NB, NM, NS, ZO, PS, PM, PB } with the fuzzy subset of deviation variation rate ec, and by this fuzzy subset be mapped to domain [- 6,
6] on；
Output valve k by three fuzzy controllersp *、ki *And kd *Respectively as the ratio of conventional PID controller, integration, micro-
Divide the correction value of control parameter, by described three fuzzy controller output valves kp *、ki *And kd *Fuzzy subset be defined as NB,
NM, NS, ZO, PS, PM, PB }, and this fuzzy subset is mapped on domain [- 10,10].
S2：Set up the membership function of fuzzy subset and the fuzzy control model of each fuzzy controller；
S3：Membership function according to fuzzy subset and the fuzzy control model of each fuzzy controller, application is fuzzy to close
Reasoning is become to obtain the fuzzy matrix table of pid control parameter；
The quality of Control platform depends primarily on the reasonability of selection of control parameter.Rule of thumb, from the response speed of system
Degree, stability, overshoot, stable state accuracy, pid control parameter KP、KiAnd KdThe aspect such as effect considering, in controlled process
Under corresponding difference deviation e and deviation variation rate ec change, pid control parameter KP、KiAnd KdSelf-adjusting will to meet following adjustment former
Then：
(1) when deviation e is larger, for accelerating the response speed of system, prevent from greatly may because the moment of deviation e when starting becomes
The differential that can cause overflows, and should take larger KPWith less Kd, simultaneously because integral action can make by force very much system overshoot increase,
Thus integral action will be any limitation as, generally take less KiValue；
(2) when deviation e median size, the overshoot for reducing system ensures certain response speed, KPShould suitably subtract
Little, K simultaneouslydAnd KiValue size moderate；
(3) when deviation e is less, in order to reduce steady-state error, KPWith KiShould obtain more greatly, in order to avoid output response exists
Setting value oscillates around, and considers the interference free performance of system, K simultaneouslydValue is selected according to deviation variation rate absolute value | ec | size
Take, when | ec | value is larger, KdTake smaller value, usual KdFor median size.
The fuzzy matrix table of pid control parameter is calculated as follows and obtains：
Kp=Kp0+kp *；Ki=Ki0+ki *；Kd=Kd0+kd *；
Wherein, Kp0、Ki0And Kd0For the initial design values of pid control parameter, by the parameter tuning side of conventional PID controllers
Method sets；kp *、ki *And kd *For 3 output valves of fuzzy controller, can be according to state adjust automatically PID tri- of controlled device
The value of control parameter.
S4：Anti fuzzy method is carried out to fuzzy subset using centroid method, obtains the clear amount for controlling.
Anti fuzzy method is exactly that the linguistic variable of output is converted into accurate numerical value, and the fuzzy controller of the present invention is using weight
Heart method is to fuzzy subset's anti fuzzy method.With the point on control action domain to control action fuzzy subset's membership function for power it is
Number is weighted averagely trying to achieve anti fuzzy method result.
The present invention needs not rely on the mathematical models of controlled device so as in controlled state more using fuzzy control
Plus stable, and can effectively suppress the nonlinear situation of controlled device；In control process, the Self-tuning System of fuzzy
Can the constantly change of monitoring parameter and parameter Real-time Feedback, make control effect reach idealization.
Although having been presented for some embodiments of the present invention herein, it will be appreciated by those of skill in the art that
Without departing from the spirit of the invention, the embodiments herein can be changed.Above-described embodiment is exemplary, no
Should be using the embodiments herein as the restriction of interest field of the present invention.
Claims (3)
1. a kind of DC speed regulation method based on fuzzy-adaptation PID control is it is characterised in that comprise the steps：
S1：Set up three fuzzy controllers, define the input value of described three fuzzy controllers and the fuzzy subset of output valve；
S2：Set up the membership function of described fuzzy subset and the fuzzy control model of each fuzzy controller；
S3：Membership function according to described fuzzy subset and the fuzzy control model of each fuzzy controller, application is fuzzy to close
Reasoning is become to obtain the fuzzy matrix table of pid control parameter；
S4：Anti fuzzy method is carried out to described fuzzy subset using centroid method, obtains the clear amount for controlling.
2. as claimed in claim 1 a kind of DC speed regulation method based on fuzzy-adaptation PID control it is characterised in that described step
S1：Set up three fuzzy controllers, define in the described input value of three fuzzy controllers and the fuzzy subset of output valve, also wrap
Include：
Using rotating speed deviation and deviation variation rate as the input value of described three fuzzy controllers, define described rotating speed deviation and partially
The fuzzy subset of difference rate of change, and the fuzzy subset of described rotating speed deviation and deviation variation rate is mapped on domain；
Using the output valve of described three fuzzy controllers as the ratio of conventional PID controllers, integration, differential control parameter
Correction value, define the fuzzy subset of described three fuzzy controller output valves, and by described three fuzzy controller output valves
Fuzzy subset be mapped on domain.
3. as claimed in claim 1 a kind of DC speed regulation method based on fuzzy-adaptation PID control it is characterised in that described step
The fuzzy matrix table of the pid control parameter in S3 is calculated as follows and obtains：
Kp=Kp0+kp *；Ki=Ki0+ki *；Kd=Kd0+kd *；
Wherein, Kp0、Ki0、Kd0For the initial design values of pid control parameter, set by the parameter tuning method of conventional PID controllers
Fixed；kp *、ki *And kd *It is respectively the output valve of described three fuzzy controllers, can be according to state adjust automatically PID of controlled device
The value of three control parameters.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107508506A (en) * | 2017-09-22 | 2017-12-22 | 哈尔滨理工大学 | A kind of brshless DC motor fuzzy-adaptation PID control governing system and method |
| CN108681238A (en) * | 2018-05-10 | 2018-10-19 | 中国石油集团渤海钻探工程有限公司 | One kind is with brill downhole electrical motor group speed self-adjusting control method |
| CN108757191A (en) * | 2018-05-24 | 2018-11-06 | 天津捷强动力装备股份有限公司 | Electricity generation system control method for engine speed |
| CN108809167A (en) * | 2018-06-26 | 2018-11-13 | 长春工业大学 | A kind of BP neural network PID speed regulating control algorithms based on fuzzy control |
| CN108809160A (en) * | 2018-06-28 | 2018-11-13 | 长春工业大学 | A kind of DC motor speed-regulating method based on mixing self-regulation fuzzy-adaptation PID control |
| CN109639207A (en) * | 2018-12-29 | 2019-04-16 | 宝鸡文理学院 | Synchronous motor energy-saving fuzzy controller method |
| CN109808506A (en) * | 2018-12-27 | 2019-05-28 | 江苏敏安电动汽车有限公司 | Anti- based on Fuzzy Adaptive PID Control slips by slope method, system and electric car |
| CN109856961A (en) * | 2019-03-11 | 2019-06-07 | 深圳市安健科技股份有限公司 | A kind of bulb voltage control method, device and computer readable storage medium |
| CN109877164A (en) * | 2018-12-28 | 2019-06-14 | 中冶南方工程技术有限公司 | A kind of cold-rolling mill second flow method for controlling thickness and device based on fuzzy control |
| CN111181467A (en) * | 2020-01-15 | 2020-05-19 | 武汉理工大学 | Servo motor rotating speed adjusting method and system based on three-dimensional fuzzy control |
| CN111258213A (en) * | 2020-03-09 | 2020-06-09 | 深圳市锐同技术有限公司 | Fuzzy self-tuning PID-based temperature control method |
| CN114185261A (en) * | 2021-11-04 | 2022-03-15 | 上海机电工程研究所 | Vehicle-mounted transmitting device servo follow-up control method and system based on PID |
| CN114268263A (en) * | 2021-12-27 | 2022-04-01 | 小神童创新科技(广州)有限公司 | Double-closed-loop fuzzy control method for motor driver |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107508506A (en) * | 2017-09-22 | 2017-12-22 | 哈尔滨理工大学 | A kind of brshless DC motor fuzzy-adaptation PID control governing system and method |
| CN108681238A (en) * | 2018-05-10 | 2018-10-19 | 中国石油集团渤海钻探工程有限公司 | One kind is with brill downhole electrical motor group speed self-adjusting control method |
| CN108757191A (en) * | 2018-05-24 | 2018-11-06 | 天津捷强动力装备股份有限公司 | Electricity generation system control method for engine speed |
| CN108757191B (en) * | 2018-05-24 | 2020-09-04 | 天津捷强动力装备股份有限公司 | Method for controlling engine speed of power generation system |
| CN108809167A (en) * | 2018-06-26 | 2018-11-13 | 长春工业大学 | A kind of BP neural network PID speed regulating control algorithms based on fuzzy control |
| CN108809160A (en) * | 2018-06-28 | 2018-11-13 | 长春工业大学 | A kind of DC motor speed-regulating method based on mixing self-regulation fuzzy-adaptation PID control |
| CN109808506A (en) * | 2018-12-27 | 2019-05-28 | 江苏敏安电动汽车有限公司 | Anti- based on Fuzzy Adaptive PID Control slips by slope method, system and electric car |
| CN109877164A (en) * | 2018-12-28 | 2019-06-14 | 中冶南方工程技术有限公司 | A kind of cold-rolling mill second flow method for controlling thickness and device based on fuzzy control |
| CN109877164B (en) * | 2018-12-28 | 2024-03-22 | 中冶南方工程技术有限公司 | Second flow thickness control method and device for cold rolling mill based on fuzzy control |
| CN109639207A (en) * | 2018-12-29 | 2019-04-16 | 宝鸡文理学院 | Synchronous motor energy-saving fuzzy controller method |
| CN109856961A (en) * | 2019-03-11 | 2019-06-07 | 深圳市安健科技股份有限公司 | A kind of bulb voltage control method, device and computer readable storage medium |
| CN109856961B (en) * | 2019-03-11 | 2022-02-11 | 深圳市安健科技股份有限公司 | Bulb voltage control method and device and computer readable storage medium |
| CN111181467A (en) * | 2020-01-15 | 2020-05-19 | 武汉理工大学 | Servo motor rotating speed adjusting method and system based on three-dimensional fuzzy control |
| CN111181467B (en) * | 2020-01-15 | 2021-09-24 | 武汉理工大学 | Servo motor rotating speed adjusting method and system based on three-dimensional fuzzy control |
| CN111258213A (en) * | 2020-03-09 | 2020-06-09 | 深圳市锐同技术有限公司 | Fuzzy self-tuning PID-based temperature control method |
| CN114185261A (en) * | 2021-11-04 | 2022-03-15 | 上海机电工程研究所 | Vehicle-mounted transmitting device servo follow-up control method and system based on PID |
| CN114268263A (en) * | 2021-12-27 | 2022-04-01 | 小神童创新科技(广州)有限公司 | Double-closed-loop fuzzy control method for motor driver |
| CN114268263B (en) * | 2021-12-27 | 2022-07-12 | 小神童创新科技(广州)有限公司 | Double-closed-loop fuzzy control method for motor driver |
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Application publication date: 20170222 |