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通过对控制领域中常见的非线性、时变、大滞后、强耦合、变结构以及结束条件苛刻等复杂问题的分析,根据现代控制理论中模糊控制的特点,提出了一种基于可编程计算机控制器(PCC)的模糊PID控制器。实现了以新一代PCC为硬件,采用离线计算的方法对输入量进行模糊推理,生成在线查询表。利用在线查表插值的方法对PID控制算法中的三个参数Kp,Ki,Kd进行在线调整,实现模糊PID控制器。提出带死区的模糊控制算法以及二元三点插值法来改善控制器的稳态性能和动态误差,通过利用软件编程的方式直接将控制表和在线部分直接下载到PCC的CPU模块中的方法,来满足控制器通用性的要求。该控制方案具有调节速度快、适应能力强、可靠性高等优点。实验结果表明,该控制器具有强抗扰、响应快、鲁棒性好等特点。
Based on the analysis of complex problems such as non-linear, time-varying, large lag, strong coupling, variable structure and harsh ending conditions in the control field, according to the characteristics of fuzzy control in modern control theory, a new method based on programmable computer control (PCC) fuzzy PID controller. The new generation of PCC is implemented as a hardware and the method of offline calculation is adopted to make a fuzzy inference on the input quantity to generate an online look-up table. Using the method of online look-up table interpolation, the three parameters Kp, Ki, Kd in PID control algorithm are adjusted online to realize the fuzzy PID controller. Proposed with the dead zone fuzzy control algorithm and binary three point interpolation method to improve the controller’s steady-state performance and dynamic error, through the use of software programming directly to the control table and the online part of the PCC directly to the CPU module , To meet the controller’s versatility requirements. The control scheme has the advantages of fast regulation, strong adaptability and high reliability. Experimental results show that the controller has strong anti-interference, fast response, good robustness and so on.