CN202663351U - Servo motor rotational speed control system based on fuzzy self-adaptive proportional-integral-derivative (PID) controllers - Google Patents
Servo motor rotational speed control system based on fuzzy self-adaptive proportional-integral-derivative (PID) controllers Download PDFInfo
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- CN202663351U CN202663351U CN2012202832210U CN201220283221U CN202663351U CN 202663351 U CN202663351 U CN 202663351U CN 2012202832210 U CN2012202832210 U CN 2012202832210U CN 201220283221 U CN201220283221 U CN 201220283221U CN 202663351 U CN202663351 U CN 202663351U
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Abstract
The utility model discloses a servo motor rotational speed control system based on fuzzy self-adaptive proportional-integral-derivative (PID) controllers. A position signal output by a servo motor is compared with a given position signal by a first comparison circuit, and is used as an input signal of a position fuzzy self-adaptive PID controller; an output signal of the position fuzzy self-adaptive PID controller is compared with a speed signal of the servo motor by a second comparison circuit, and is used as an input signal of a speed fuzzy self-adaptive PID controller; an output signal of the speed fuzzy self-adaptive PID controller is compared with an output signal of a driving circuit by a third comparison circuit, and is used as an input signal of a current fuzzy self-adaptive PID controller; and an output signal of the current fuzzy self-adaptive PID controller is input into the driving circuit. The system is high in response speed, small in overshoot and high in control precision, on-line parameter self-tuning capability, anti-jamming property, dynamic property and self-adaptive ability.
Description
Technical field
The utility model relates to a kind of servomotor revolution speed control system based on Fuzzy Self-adaptive PID, belongs to the electric machines control technology field.
Background technology
When adopting conventional PID control, the adjustment of ratio, three parameters of integration and differentiation relies on experience usually, is a job of wasting time and energy very much, and is difficult to find one group of suitable PID constant.Fuzzy control theory and PID are controlled the Fuzzy Adaptive PID Control that combines, and the flexible and adaptable advantage of existing fuzzy control has again the high advantage of PID control precision, can more effectively realize people's control strategy and experience.
Characteristics such as servo electrical machinery system has precision height, reliable operation, control is simple, cost is relatively low and being widely used.In the servomotor Closed-Loop Speed Governing System, mostly adopt conventional PID controller, this control method is widely used, and is mathematical models but require object, and parameter is changeless, is difficult to adapt to the variation of various disturbances and object.And because servomotor itself is a nonlinear controlled device, the performance when traditional PID control strategy is difficult to keep designing in actual applications.Day by day maturation along with the fuzzy control technology application, again because fuzzy control does not rely on the mathematical models of controlled device, can overcome the impact of non-linear factor, the parameter of controlled plant changed have stronger robustness, so fuzzy control and traditional PID control combination have been applied to many fields.
The utility model content
The purpose of this utility model is for the existing problem of conventional PID that adopts in the servomotor Closed-Loop Speed Governing System, it is fast to have proposed a kind of system response time, overshoot obviously reduces, on-line parameter is strong from the ability of adjusting, has preferably anti-interference, can obtain preferably dynamic characteristic, have the servomotor revolution speed control system based on Fuzzy Self-adaptive PID of stronger adaptive ability.
Technical solution of the present utility model: a kind of servomotor revolution speed control system based on Fuzzy Self-adaptive PID, comprise servomotor and drive the drive circuit that servomotor moves, it is characterized in that, comprise the location fuzzy self-adaptive PID controller, velocity ambiguity self-adaptive PID controller and the electric current Fuzzy Self-adaptive PID that set gradually
Compared by position signalling and the given position signal of the first comparison circuit with servomotor output, and with the input signal of comparative result as described location fuzzy self-adaptive PID controller,
By the second comparison circuit the output signal of described location fuzzy self-adaptive PID controller and the rate signal of servomotor are compared, and with the input signal of comparative result as described velocity ambiguity self-adaptive PID controller,
By the 3rd comparison circuit the output signal of described velocity ambiguity self-adaptive PID controller and the output signal of described drive circuit are compared, and with the input signal of comparative result as described electric current Fuzzy Self-adaptive PID,
The output signal of described electric current Fuzzy Self-adaptive PID is inputted described drive circuit.
The position signalling of servomotor output is converted to the rate signal of servomotor through a differential circuit, and feed back input is to described the second comparison circuit.
Determine the fuzzy inference rule table by fuzzy control rule and fuzzy reasoning, after the fuzzy inference rule table of ratio, differential and three parameters of integration in described location fuzzy self-adaptive PID controller, velocity ambiguity self-adaptive PID controller and the electric current Fuzzy Self-adaptive PID is set, by the control parameter in fuzzy inference rule table setting position Fuzzy Self-adaptive PID, velocity ambiguity self-adaptive PID controller and the electric current Fuzzy Self-adaptive PID.
The beneficial effect that the utility model reaches:
Servomotor revolution speed control system based on Fuzzy Self-adaptive PID of the present utility model combines fuzzy control with traditional PID control, be used for the servomotor rotating speed is controlled, system response time is fast, overshoot obviously reduces, on-line parameter is strong from the ability of adjusting, have preferably anti-interference, can obtain preferably dynamic characteristic, have stronger adaptive ability.
Description of drawings
Fig. 1 is structured flowchart of the present utility model.
Embodiment
Below in conjunction with accompanying drawing the utility model is further described.Following examples only are used for the technical solution of the utility model more clearly is described, and can not limit protection range of the present utility model with this.
As shown in Figure 1, the servomotor revolution speed control system based on Fuzzy Self-adaptive PID of the present utility model comprises location fuzzy self-adaptive PID adjuster, velocity ambiguity self-adaptive PID controller, electric current Fuzzy Self-adaptive PID, drive circuit, servomotor and differential circuit.Wherein, the first comparison circuit output and location fuzzy self-adaptive PID controller input join, location fuzzy self-adaptive PID controller output and the second comparison circuit input join, the second comparison circuit output and velocity ambiguity self-adaptive PID adjuster circuit input join, velocity ambiguity self-adaptive PID adjuster circuit output and the 3rd comparison circuit input join, the 3rd comparison circuit output and electric current Fuzzy Self-adaptive PID input join, electric current Fuzzy Adaptive PID controller output end and drive circuit input join, drive circuit output feed back input to the feedback input end with the 3rd comparison circuit joins, output while and the servomotor input of drive circuit join, and are used for driving the servomotor operation.
Simultaneously, gather the feedback input end of position signalling feed back input to the first comparison circuit of servomotor, compared by the position signalling of the first comparison circuit with the servomotor of given position signal and collection, and export comparison signal to location fuzzy self-adaptive PID adjuster by the first comparison circuit output.
The position signalling of the servomotor that gathers is converted to rate signal through a differential circuit simultaneously, the feedback input end of feed back input to the second comparison circuit, compared with the signal of inputting from feedback input end by the signal of the second comparison circuit with the output of location fuzzy self-adaptive PID controller output, and export comparison signal to velocity ambiguity self-adaptive PID adjuster by the second comparison circuit output.
The 3rd comparison circuit compares the signal of velocity ambiguity self-adaptive PID adjuster output and signal from drive circuit output feed back input, and exports comparison signal to the electric current Fuzzy Self-adaptive PID by the 3rd comparison circuit output.
Described three class positions, speed and electric current Fuzzy Self-adaptive PID are on the basis of traditional PID control, determine fuzzy control table by fuzzy control rule and fuzzy reasoning, parameter by fuzzy control table adjustment PID is controlled in control, fuzzy control and PID controller are combined, maximize favourable factors and minimize unfavourable ones, make it both have the flexible and adaptable advantage of fuzzy control, have again the high characteristics of PID control precision.
The basic thought of fuzzy adaptive controller is: when error is large, need to strengthen the weight of error control action, with quick elimination error, improve system response time; When error hour, need to strengthen the weight of error change amount control action, make system enter as early as possible stable state to avoid overshoot.According to above-mentioned rule, can design the fuzzy inference rule table of ratio, differential and three parameters of integration of Fuzzy Self-adaptive PID, thereby corresponding control parameter is set.
Control object in the control system is servomotor, servo electrical machinery system is when real work, that governing system exists to some extent is non-linear, parameter time varying and fuzzy uncertainty, be difficult to imparting system control inputs amount with definite numerical value, this moment, its control effect was just not very good, this is adopted fuzzy control strategy usually, adopt Fuzzy Self-adaptive PID to control the rotating speed of servomotor.
Specific embodiment described in this patent only is the utility model spirit to be done illustrate.Those skilled in the art can carry out conversion and be equal to alternative described specific embodiment.Therefore, the present utility model is not limited to disclosed specific embodiment, and should comprise the whole execution modes that fall in the claim scope of the present invention.
Claims (3)
1. servomotor revolution speed control system based on Fuzzy Self-adaptive PID, comprise servomotor and drive the drive circuit that servomotor moves, it is characterized in that, comprise the location fuzzy self-adaptive PID controller, velocity ambiguity self-adaptive PID controller and the electric current Fuzzy Self-adaptive PID that set gradually
Compared by position signalling and the given position signal of the first comparison circuit with servomotor output, and with the input signal of comparative result as described location fuzzy self-adaptive PID controller,
By the second comparison circuit the output signal of described location fuzzy self-adaptive PID controller and the rate signal of servomotor are compared, and with the input signal of comparative result as described velocity ambiguity self-adaptive PID controller,
By the 3rd comparison circuit the output signal of described velocity ambiguity self-adaptive PID controller and the output signal of described drive circuit are compared, and with the input signal of comparative result as described electric current Fuzzy Self-adaptive PID,
The output signal of described electric current Fuzzy Self-adaptive PID is inputted described drive circuit.
2. the servomotor revolution speed control system based on Fuzzy Self-adaptive PID according to claim 1, it is characterized in that, the position signalling of servomotor output is converted to the rate signal of servomotor through a differential circuit, and feed back input is to described the second comparison circuit.
3. the servomotor revolution speed control system based on Fuzzy Self-adaptive PID according to claim 1, it is characterized in that, the fuzzy inference rule table of ratio, differential and three parameters of integration in described location fuzzy self-adaptive PID controller, velocity ambiguity self-adaptive PID controller and the electric current Fuzzy Self-adaptive PID is set, by the fuzzy inference rule table control parameter is set.
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| CN2012202832210U CN202663351U (en) | 2012-06-15 | 2012-06-15 | Servo motor rotational speed control system based on fuzzy self-adaptive proportional-integral-derivative (PID) controllers |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414415A (en) * | 2013-07-05 | 2013-11-27 | 石成富 | Motor control method based on PI parameter self-tuning |
| CN103618486A (en) * | 2013-11-30 | 2014-03-05 | 国网河南省电力公司平顶山供电公司 | Fuzzy-control direct-current motor speed control method |
| CN104632416A (en) * | 2014-12-30 | 2015-05-20 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Control method for rotating speed of gas turbine |
| CN105337558A (en) * | 2014-08-04 | 2016-02-17 | 日本电产三协株式会社 | Motor system |
| CN107065943A (en) * | 2017-05-02 | 2017-08-18 | 南京工程学院 | One kind directly turns platform position control system and control method |
| CN107490958A (en) * | 2017-07-31 | 2017-12-19 | 天津大学 | A kind of Fuzzy Adaptive Control Scheme of series parallel robot in five degrees of freedom |
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2012
- 2012-06-15 CN CN2012202832210U patent/CN202663351U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414415A (en) * | 2013-07-05 | 2013-11-27 | 石成富 | Motor control method based on PI parameter self-tuning |
| CN103618486A (en) * | 2013-11-30 | 2014-03-05 | 国网河南省电力公司平顶山供电公司 | Fuzzy-control direct-current motor speed control method |
| CN105337558A (en) * | 2014-08-04 | 2016-02-17 | 日本电产三协株式会社 | Motor system |
| CN105337558B (en) * | 2014-08-04 | 2018-01-12 | 日本电产三协株式会社 | Electric motor system |
| CN104632416A (en) * | 2014-12-30 | 2015-05-20 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Control method for rotating speed of gas turbine |
| CN107065943A (en) * | 2017-05-02 | 2017-08-18 | 南京工程学院 | One kind directly turns platform position control system and control method |
| CN107065943B (en) * | 2017-05-02 | 2019-09-20 | 南京工程学院 | It is a kind of directly to turn platform position control system and control method |
| CN107490958A (en) * | 2017-07-31 | 2017-12-19 | 天津大学 | A kind of Fuzzy Adaptive Control Scheme of series parallel robot in five degrees of freedom |
| CN107490958B (en) * | 2017-07-31 | 2020-06-19 | 天津大学 | Fuzzy self-adaptive control method of five-freedom-degree series-parallel robot |
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