摘要
在研究船舶步进电机的优化控制过程中,船舶处在不同的风浪环境下,这使得船舶步进电机的速度、位置、温度等控制参数需要在短时内发生较大变化,导致PID过于依赖电机参数的大幅变化,使控制结果出现偏差,存在控制精度低,响应速度慢等问题。为此提出一种基于改进模糊PID控制算法的船舶步进电机的高精度PID控制方法。上述方法先将PID控制与模糊理论相结合,组建模糊PID控制器,依据模糊规则的推理,分析了船舶步进电机在各种环境下的速度、位置与温度的变化因素,消除了不同环境下产生的偏差。融合自适应卡尔曼滤波算法,组建了船舶低频和高频运动控制模型,以线性最小方差给出了统计意义上最接近状态的控制值,提升了船舶步电机控制的整体性能,完成对船舶步进电机的高精度PID优化控制。仿真结果证明,基于改进模糊PID控制算法的船舶步进电机的高精度PID控制方法响应速度快,鲁棒性较强。
A fuzzy PID control algorithm based on improved ship stepper motor and high precision PID control method. This method combines PID control and fuzzy theory. The speed, position and temperature of ship stepper motor are analyzed under various environmental factors, the deviation produced by the different environment is elimi- nated. Adaptive kalman filter algorithm is used to form the ship＇s movement control model in low frequency and high frequency, a linear minimum variance is used to obtain the control values which are most close to the state statistical sense, the overall performance of ship step motor control system is improved, and the high precision PID optimal con- trol of ship stepper motor is achieved. Simulation result shows that the proposed fuzzy PID control algorithm has good performance with fast response, high precision, and strong robustness.
出处
《计算机仿真》
CSCD
北大核心
2015年第8期396-399,413,共5页
Computer Simulation
关键词
模糊控制
步进电机
定位系统
Fuzzy control
Stepping motor
Positioning system（GPS）
