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公司基本資料信息
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確定輸出量的去模糊化方法
模糊控制算法給出的控制量(精確量),還不能直接控制對象,實際輸出需進行去模糊化處理。將其轉換到控制對象所能接受的基本論域中去。去模糊化處理算法采用質心法。
2.5 Matlab輔助模糊咖控制器的設計
在Madab仿真系統中建立模糊控制器,然后與傳統的PID控制器結合,構成模糊PID控制器。由于模糊控制器的輸入、輸出必須是模糊量,因此對輸入進行模糊化。對于速度環PID控制器,取輸入量速度誤差和速度誤差變化率的基本論域為-[50,+50],[-500,+500],取Kp,Ki,Kd的基本論域為[-0.2,0.2],[-0.1,0.1],[-0.01,0.01]。將模糊控制器和PID控制器連在一起,構成模糊PID控制器。如圖1所示。
圖1 模糊PID仿真模塊
3 仿真結果與分析
在Matlab/Simulink環境下。建立PMSM伺服系統仿真模型,對速度環模糊PID控制器的模糊控制策略進行仿真。電機參數為:額定功率75 kW,額定轉速2 000 r·min-1,定子電阻R=79.063 9 mΩ,交、直軸電感分別為Ld=2.206 mH,Lp=3.881 mH,轉動慣量J=0.05 kg·m2,極對數p=4,額定轉矩Te=358 N·m,φ0=557.88mT。圖2a,b為所設計模糊PID控制器和經典PID控制器下的電機轉速的階躍響應。圖2c,d示出起動帶負載T1=158N·m,速度n1=1000r·min-1,在t=0.04 S時刻負載突變為T2=358 N·m時,電機的轉速和轉矩特性。對比可知模糊PID控制比常規PID控制的轉速響應時間短,并且超調量明顯減小,在0.04 s負載發生波動過程中,轉速能快速平穩地穩定為1 000r·min-1,改善了系統的抗干擾能力。
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