毕业设计（论文）-基于MATLAB的模糊PID控制器的设计及其实现.doc

沈阳化工大学本科毕业论文题目基于MATLAB的模糊PID控制器的设计及其实现_院系信息工程学院_______________专业电气工程及其自动化_____________班级电气0703__________________学生姓名__________________指导教师______________论文提交日期2011年6月27日论文答辩日期2011年6月28日毕业设计（论文）任务书电气工程及其自动化专业0703班学生毕业设计（论文）题目基于MATLAB的模糊PID控制器的设计及其实现毕业设计（论文）内容1.学习模糊控制理论2.学习MATLAB仿真软件3.设计fuzzyPID仿真控制系统毕业设计（论文）专题部分模糊PIDMATLAB仿真控制系统的设计起止时间2011年3月2011年6月指导教师签字年月日教研主任签字年月日学院院长签字年月日内容摘要PID（比例积分微分）控制具有结构简单、稳定性能好、可靠性高等优点,尤其适用于可建立精确数学模型的控制系统。而对于一些多变量、非线性、时滞的系统，传统的PID控制器并不能达到预期的效果。随着模糊数学的发展，模糊控制的思想逐渐得到控制工程师们的重视，各种模糊控制器也应运而生。而单纯的模糊控制器有其自身的缺陷控制效果很粗糙、控制精度无法达到预期标准。但利用传统的PID控制器和模糊控制器结合形成的模糊自适应的PID控制器可以弥补其缺陷它将系统对应的误差和误差变化率反馈给模糊控制器进而确定相关参数，保证系统工作在最佳状态，实现优良的控制效果。论文介绍了参数自适应模糊PID控制器的设计方法和步骤。并利用MATLAB中的SIMULINK和模糊逻辑推理系统工具箱进行了控制系统的仿真研究，并简要地分析了对应的仿真数据。关键词经典PID控制模糊控制自适应模糊PID控制器参数整定MATLAB仿真ABSTRACTPIDProportionIntegrationDifferentiationcontrol,withlotsofadvantagesincludingsimplestructure,goodstabilityandhighreliability,isquitesuitabletoestablishespeciallythecontrolsystemwhichaccuratemathematicalmodelisavailableandneeded.However,takenmultivariable,nonlinearandtimelagintoconsideration,traditionalPIDcontrollercannotreachtheexpectedeffect.AlongwiththedevelopmentofFuzzyMathematics,controlengineersgraduallypaymuchattentiontotheideaofFuzzyControl,thuspromotingtheinventionoffuzzycontrollers.However,simplefuzzycontrollerhasitsowndefect,wherecontroleffectisquitecoarseandthecontrolprecisioncannotreachtheexpectedlevel.Therefore,theFuzzyAdaptivePIDControlleriscreatedbytakingadvantageofthesuperiorityofPIDControllerandFuzzyController.Takenthiscontrollerinuse,thecorrespondingerroranditsdifferentialerrorofthecontrolsystemcanbefeedbackedtotheFuzzyLogicController.Moreover,thethreeparametersofPIDControllerisdeterminedonlinethroughfuzzification,fuzzyreasoninganddefuzzificationofthefuzzysystemtomaintainbetterworkingconditionthanthetraditionalPIDcontroller.Meanwhile，thedesignmethodandgeneralstepsareintroducedoftheParameterselfsettingFuzzyPIDController.Eventually,theFuzzyInferenceSystemsToolboxandSIMULINKtoolboxareusedtosimulateControlSystem.TheresultsofthesimulationshowthatSelforganizingFuzzyControlSystemcangetabettereffectthantheClassicalPIDcontrolledevidently.KeywordsClassicPIDcontrolFuzzyControlParameterstuningtheFuzzyAdaptivePIDControllerMATLABsimulation目录第一章绪论.....................................................................................11.1课题研究的背景及学术意义........................................................11.2经典PID控制系统的分类与简介.................................................21.2.1P控制......................................................................................21.2.2PI控制....................................................................................21.2.3PD控制...................................................................................21.2.4比例积分微分（PID）控制....................................................21.3模糊逻辑与模糊控制的概念........................................................31.3.1模糊控制相关概念.................................................................31.3.2模糊控制的优点.....................................................................41.4模糊控制技术的应用概况............................................................41.5本文的研究目的和内容................................................................5第二章PID控制..............................................................................62.1PID的算法和参数.........................................................................62.1.1位移式PID算法.....................................................................62.1.2增量式PID算法.....................................................................72.1.3积分分离PID算法.................................................................72.1.4不完全微分PID算法.............................................................82.2PID参数对系统控制性能的影响..................................................92.2.1比例系数KP对系统性能的影响.............................................92.2.2积分时间常数Ti对系统性能的影响......................................92.2.3微分时间常数Td对系统性能的影响......................................92.3PID控制器的选择与PID参数整定............................................102.3.1PID控制器的选择.................................................................102.3.2PID控制器的参数整定.........................................................10第三章模糊控制器及其设计..........................................................113.1模糊控制器的基本结构与工作原理............................................113.2模糊控制器各部分组成...............................................................113.2.1模糊化接口............................................................................113.2.2知识库..................................................................................123.2.3模糊推理机...........................................................................123.2.4解模糊接口...........................................................................123.3模糊推理方式..............................................................................133.3.1Mamdani模糊模型（迈达尼型）..........................................133.3.2TakagiSugeno模糊模型高木关野.....................................133.4模糊控制器的维数确定...............................................................143.5模糊控制器的隶属函数..............................................................153.6模糊控制器的解模糊过程...........................................................173.7模糊PID控制器的工作原理......................................................18第四章模糊PID控制器的设计.....................................................194.1模糊PID控制器组织结构和算法的确定...................................194.2模糊PID控制器模糊部分设计..................................................19