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针对传统三维模糊控制器模糊规则多,在实际应用中不易实现,输入量之间相互耦合的问题,提出一种PID与模糊混合(M)型控制器。该控制策略是把三个输入量分别为偏差、偏差变化、偏差的偏差变化的一维模糊控制器加权融合实现混合(M)型控制器,解决了多变量模糊控制中的规则数量几何爆炸问题,具有更大的可控范围。针对传统模糊控制不能消除系统静差的缺陷,吸收增量式PID控制递推累加的形式,对偏差进行积分,混合(M)型控制器实现了对系统静差的消除。此外介绍了M型控制器的参数整定方法,并对其稳定性进行了分析。仿真表明,M型控制器控制效果比二维模糊控制和PID控制都好。
Aiming at the problem of traditional fuzzy controller with many fuzzy rules, which is not easy to be realized and the inputs are mutually coupled, a PID and fuzzy hybrid (M) controller is proposed. The control strategy is to implement a hybrid (M) controller by combining one-dimensional fuzzy controller with three inputs, one with deviation, one with deviation and the other with deviation variation, to solve the problem of geometric explosion in the multivariable fuzzy control , With a greater controllable range. Aiming at the defect that the traditional fuzzy control can not eliminate the system static error, the increment PID control is absorbed and recursive accumulates, and the deviation is integrated. The hybrid (M) controller realizes the elimination of the system static error. In addition, the parameter tuning method of M-type controller is introduced and its stability is analyzed. The simulation shows that the control effect of M-type controller is better than two-dimensional fuzzy control and PID control.