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Abstract
Designed
a
parameter
self-tuning
PID-controller based on fuzzy control, which
can adjust PID-parameters according to error
and change-in-error. A simulation study of the
system shows that the controller possesses
both the precise character of PID controller
and the flexible advantage of fuzzy controller.
It can eliminate the steady error of the system
promptly.
Key words: fuzzy control; parameter
self-tuning; fuzzy PID ;MATLAB
1. The self-tuning control principle of fuzzy
PID parameter
PID control requirements model structure
very precise, and in practical applications, to
different extent, most of industrial processes
exist to the nonlinear, the variability of
parameters and the uncertainty of model, thus
using conventional PID control can not
achieve the precise control of the process. But
the dependence on the mathematical model of
the fuzzy control is weak, so it isn't necessary
to establish the precise mathematical model of
the process, and the fuzzy control has a good
robustness and adaptability. Accoding to their
own characteristics, we combinate fuzzy
control with PID control, and provide a based
on fuzzy PID parameters self-tuning controller
with MATLAB.
Fuzzy PID parameters Self-tuning
978-0-7695-3489-3/08 $25.00 2008 IEEE
DOI 10.1109/ICACTE.2008.9
"ki",
"kd"
three
parameters
tuning
separately[3].
self-tuning through processing of results,
look-up table, calculation of the fuzzy logic
rules.
2. The analysis of system simulation
Assume that the controlled object[2] is
G p ( s) =
500000
s + 80 s 2 + 15000 s
3
k p = 0.4, ki = 1, k d = 0.005
the output curve of step-response is shown in
Figure 2.
Using MATLAB onboard FUZZY
toolbox, we create two input and three output
fuzzy controller, and determine membership
functions and fuzzy rules, and then we can
create fuzzy self-tuning PID simulation map
in SIMULINK. The self-adaptive-adjusting
step response output curve by using MATLAB
programming is shown in Figure 3.
k p = k p + k p
'
ki = ki + ki
'
k d = k d + k d
'
997
Figure 5
G p ( s) =
70000
s 3 + 30 s 2 + 100000 s
G p ( s) =
70000
s + 30 s 2 + 100000 s
3
998
999