基于模糊PID的磁悬浮球控制系统研究

Research on Control System of Magnetic Levitation Ball Based on Fuzzy PID

摘要:

针对磁悬浮球系统的本质不稳定性,设计模糊PID算法实现系统的稳定控制,并使之动态性能及稳态性能满足要求;文中首先分析了磁悬浮球系统的基本原理,并进行力学分析,建立系统的数学模型,并对其中的非线性部分进行了平衡点处的线性化,而后采用用PID控制设计,PID可以实现系统的稳定控制,且控制精度较高,但对于动态性能的改善不足,且当模型中的参数改变时,PID参数的适应性较差;因此在PID参数的基础上,采用模糊PID控制,使得系统既可以满足三性要求,又可以使其具有参数变化的适应能力。

Abstract:

In order to solve the nature unstable feature of the magnetic levitation ball system, fuzzy PID control algorithm was designed to realize the stability of the system, and also make the system satisfy the dynamic performance and steady-state performance. In this paper, firstly, the basic principle of magnetic levitation ball system was analysed, and mechanical analysis was made. Then the mathematical model was established, and the nonlinear part of the system is linearized at the equilibrium point. After that, PID algrithm was designed to realize stable control, with high accuracy and low dynamic performance, and while if the value of one parameter changed, system with PID control had low adaptability. Thus based on PID control, fuzzy PID algorithm was adopted, which make the system satisfy the performance of stability, accuracy and swiftness, and meanwhile make the system had the ability to adapt with parameters variation.