摘要
板球系统是一种典型非线性欠驱动的动力学系统,系统的数学模型不易精确建立。为此,提出了一种模糊自校正串级PID控制方案。通过搭建板球装置,对经典PID与模糊自校正串级PID控制方案进行了对比实验。实验结果表明,模糊自校正串级PID控制取得了更好的控制效果,使系统具有较好的动态特性和静态特性,并满足大学生电子设计竞赛题目的所有测试要求。
Ball & Plate control system is a nonlinear and underactuated dynamic system,the mathematical model of the system is hard to establish.Therefore,a fuzzy self-tuning cascade PID control scheme is designed.The paper designed an experiment comparing PID and fuzzy self-tuning cascade PID control scheme by establishing Ball & Plate.Experimental results show that the fuzzy self-tuning cascade PID control has a good control effect.The system has better dynamic characteristics and static characteristics.And it meets all the test requirements of the Undergraduate Electronic Design Contest.
作者
张世奇
ZHANG Shi-qi(Nanjing University of information & technology,College of information & control,Nanjing 210044 China)
出处
《自动化技术与应用》
2019年第1期1-4,共4页
Techniques of Automation and Applications
关键词
模糊控制
比例积分微分控制
串级控制系统
自校正
板球系统
fuzzy control
proportional integral differential (PID)control
cascade control system
self-tuning
ball&plate control system
