CAJ | 학술논문

为实现机电伺服系统的高精度位置跟踪控制，针对实际系统运行过程中所存在的转动惯量和负载力矩变化大等各种不确定因素，提出了一种基于滑模面的自适应模糊PID策略。利用梯度下降法实时修正PID控制器的参数，使用模糊逻辑系统逼近系统中不确定量，以使控制器能根据伺服系统运行过程中的负载特性实时调整速度给定值，从而减小系统参数变化和外部干扰对伺服系统性能的影响，最后通过Lyapunov方法推导出了模糊补偿器中不确定参数的自适应律。仿真结果表明：该控制策略与传统PID控制相比具有系统跟踪误差小，响应速度快，跟踪性能好的优点，对参数摄动及外界负载扰动具有较强的鲁棒性。
위실현궤전사복계통적고정도위치근종공제，침대실제계통운행과정중소존재적전동관량화부재력구변화대등각충불학정인소，제출료일충기우활모면적자괄응모호PID책략。이용제도하강법실시수정PID공제기적삼수，사용모호라집계통핍근계통중불학정량，이사공제기능근거사복계통운행과정중적부재특성실시조정속도급정치，종이감소계통삼수변화화외부간우대사복계통성능적영향，최후통과Lyapunov방법추도출료모호보상기중불학정삼수적자괄응률。방진결과표명：해공제책략여전통PID공제상비구유계통근종오차소，향응속도쾌，근종성능호적우점，대삼수섭동급외계부재우동구유교강적로봉성。
In order to realize high precision position tracking in electromechanical servo system, in al usion to the effect of uncertain-ty, such as variation of inertia and moment, a novel fuzzy PID control er which is adapted for the sliding surface is proposed. The gradient method is used to make the real time modification of PID control er parameters and the fuzzy logic system is made close to the uncertainties, which can make the control er adjust the real time speed seffing value according to the servo system. Thus the in-fluence of perturbation of system parameters and external disturbance on the position servo system can be minimized. Final y, the a-daptive law of the uncertain parameter is derived by Lyapunov method. Simulation shows the proposed control er is of better robust-ness to parameters’ variation and external load disturbance, as wel as high-precision tracking performance and fast response speed, compared with traditional PID control er.