摘要
采用主从控制模式有效地解决了水池拖车控制系统4台直流驱动电机的速度同步和负载平衡问题。传统的直流电动机双闭环调速系统多采用结构简单、性能稳定的带限幅的PI调节控制器,传统的PI调节器很难满足快速、超调小和抗干扰能力强等要求,特别是在模型参数时变、控制对象非线性和众多干扰因素的情况下。采用模糊自整定PI控制器,利用模糊推理方法实现对PI参数的在线自整定。通过实验仿真证明,该系统在不同的运行环境下都能有良好的静态和动态性能。
By adopting the master-slave control mode, the problems of synchronous speed and load balance of the four DC drive motors in tow truck control system are discussed. The traditional PI controller for DC motor speed control system with simple structure and stable performance cannot meet the requirement of speed, small overshoot and anti-disturbance, in particular, time-varying parameters in the model and nonlinear control object of interference factors. Fuzzy self-setting PI controller and fuzzy reasoning method are used to the on-line self-setting of PI parameters. The simulation results show that the system can run with a good static and dynamic performance in different environments.
出处
《控制工程》
CSCD
北大核心
2009年第1期27-30,共4页
Control Engineering of China
关键词
主从控制
模糊控制
PI控制
master-slave control
fuzzy control
PI control
