摘要
提出一种改进的电动机调速方法。该方法先按电动机转速给定值求得一误差阈值,再以该值为临界点将过渡过程划分为两个连续的时间段,在不同的时间段用不同的控制方式进行控制。在电动机响应曲线的上升时段,系统误差未达到误差阈值前采用Fuzzy控制,在之后的过渡过程时段采用PID控制,这样综合了两种控制的优点,克服了各自的缺点。实验结果表明,在足球机器人电动机调速系统中,该复合控制器较常规PID控制器具有更好的控制效果。
An improved method for speed regulation of motor is proposed.Firstly,a error threshold value is calculated by the given motor speed.Then the whole transition process of motor speed is separated into two continuous subsections by the threshold value.Different control are adopted in different domain.The subsection of rising time in the use of Fuzzy control,followed by the use of PID control.So a Fuzzy-PID composite controller is presented,which combines the advan-tages of Fuzzy controller and PID controller,and gets rid of the disadvantages of them.Taking the soccer robot motor as a plant to be controlled,the process of designing is discussed particularly and some experiments are done.The experimental results show that the control effect of Fuzzy-PID composite controller is superior in many performances to conventional PID controller.
出处
《电力电子技术》
CSCD
北大核心
2010年第2期64-66,共3页
Power Electronics
关键词
调速电动机
模糊控制
误差阀值
speed regulation of motor
fuzzy control
error threshold value
