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确定输出量的去模糊化方法
模糊控制算法给出的控制量(精确量),还不能直接控制对象,实际输出需进行去模糊化处理。将其转换到控制对象所能接受的基本论域中去。去模糊化处理算法采用质心法。
2.5 Matlab辅助模糊咖控制器的设计
在Madab仿真系统中建立模糊控制器,然后与传统的PID控制器结合,构成模糊PID控制器。由于模糊控制器的输入、输出必须是模糊量,因此对输入进行模糊化。对于速度环PID控制器,取输入量速度误差和速度误差变化率的基本论域为-[50,+50],[-500,+500],取Kp,Ki,Kd的基本论域为[-0.2,0.2],[-0.1,0.1],[-0.01,0.01]。将模糊控制器和PID控制器连在一起,构成模糊PID控制器。如图1所示。
图1 模糊PID仿真模块
3 仿真结果与分析
在Matlab/Simulink环境下。建立PMSM伺服系统仿真模型,对速度环模糊PID控制器的模糊控制策略进行仿真。电机参数为:额定功率75 kW,额定转速2 000 r·min-1,定子电阻R=79.063 9 mΩ,交、直轴电感分别为Ld=2.206 mH,Lp=3.881 mH,转动惯量J=0.05 kg·m2,极对数p=4,额定转矩Te=358 N·m,φ0=557.88mT。图2a,b为所设计模糊PID控制器和经典PID控制器下的电机转速的阶跃响应。图2c,d示出起动带负载T1=158N·m,速度n1=1000r·min-1,在t=0.04 S时刻负载突变为T2=358 N·m时,电机的转速和转矩特性。对比可知模糊PID控制比常规PID控制的转速响应时间短,并且超调量明显减小,在0.04 s负载发生波动过程中,转速能快速平稳地稳定为1 000r·min-1,改善了系统的抗干扰能力。
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