基于模糊PID的整平机姿态控制算法设计与实现

Design and Implementation of Attitude Control Algorithm for Leveling Machines Based on Fuzzy PID

摘要:

针对目前国内的整平机整平精度低、抗干扰能力弱、动态响应时间长等问题，对整平机姿态控制算法进行了研究，比较并分析了PID控制和模糊控制的优缺点，设计了基于模糊PID的整平机姿态控制算法。在Matlab/Simulink仿真环境下，选定了合适的隶属度函数、模糊推理法和解模糊法，调试得出了使系统达到最优控制效果的模糊规则库。以STM32F407为处理器实现了该算法，在整平机实验平台上进行了姿态控制实验。结果表明模糊PID控制算法能够使整平机平地铲在扰动下保持良好的控制效果，控制精度和响应速度较常规PID有了大幅提升，在农业和建筑业平地系统中具有很强的应用价值。

Abstract:

At present, domestic leveling machines have many shortcomings, such as low leveling accuracy, weak anti-interference ability, and long dynamic response time. In order to solve these problems, attitude control algorithms for leveling machine is studied through comparing the performance of PID and fuzzy controllers. Then, an attitude control algorithm based on the fuzzy PID algorithm for leveling machine is developed. In Matlab/Simulink environment, appropriate membership functions, fuzzy inference and defuzzification methods are adjusted based on a mechanical model. A fuzzy rule set acquiring desirable control effect is elaborately designed. The algorithm is implemented with an STM32F407 microprocessor as the controller. Attitude control experiments are carried out on a leveling machine experimental platform. Experimental results show that the fuzzy PID control algorithm can achieve good performance against external disturbance. Control precision and response speed are greatly improved compared with the conventional PID. Our approach has great potential in agriculture and construction industry.