卡车倒行入库模糊控制与pid控制对比分析

内蒙古大学本科毕业论文（设计）•I•学校代码10126学号00824018分类号TP273+.4密级本科毕业论文（设计）卡车倒行入库模糊控制与PID控制的对比分析学院、系电子信息工程学院自动化系专业名称自动化年级08级学生姓名XXXX指导教师XXXXXX2012年05月04日内蒙古大学本科毕业论文（设计）•II•内容摘要PID（比例积分微分）控制具有结构简单、稳定性能好、可靠性高等优点,尤其适用于可建立精确数学模型的控制系统。而对于一些多变量、非线性、时滞的系统，传统的PID控制器并不能达到预期的效果。随着模糊数学的发展，模糊控制的思想逐渐得到控制工程师们的重视，各种模糊控制器也应运而生。作为智能控制的一个重要分支，模糊控制对于某些复杂控制对象具有更好的控制效果。本论文介绍了PID控制及模糊控制的概念及工作原理并就两者对小车倒行入库的控制进行了设计和对比。并利用MATLAB中的SIMULINK和模糊逻辑推理系统工具箱进行了控制系统的仿真研究，并简要地分析了对应的仿真数据。最终得出对于控制小车倒行入库这种复杂的对象，模糊控制要明显优于PID控制。关键词：经典PID控制，模糊控制，参数整定，MATLAB仿真内蒙古大学本科毕业论文（设计）•III•ABSTRACTPID(ProportionIntegrationDifferentiation)control,withlotsofadvantagesincludingsimplestructure,goodstabilityandhighreliability,isquitesuitabletoestablishespeciallythecontrolsystemwhichaccuratemathematicalmodelisavailableandneeded.However,takenmultivariable,nonlinearandtime-lagintoconsideration,traditionalPIDcontrollercannotreachtheexpectedeffect.AlongwiththedevelopmentofFuzzyMathematics,controlengineersgraduallypaymuchattentiontotheideaofFuzzyControl,thuspromotingtheinventionoffuzzycontrollers.Fuzzycontrolwhichisapartofintelligentcontrolhasbettereffecttosomecomplicatedobjects.Meanwhile，theconceptandworkingprincipleareintroducedofFuzzycontrollandPIDcontrolandtheireffectsincontrollingthecarreversingwerecomparedandanalyzed.Eventually,theFuzzyInferenceSystemsToolboxandSIMULINKtoolboxareusedtosimulateControlSystem.TheresultsofthesimulationshowthatSelf-organizingFuzzyControlSystemcangetabettereffectthantheClassicalPIDcontrolledevidently.Keywords:ClassicPIDcontrol;FuzzyControl;MATLABsimulation内蒙古大学本科毕业论文（设计）•IV•目录第一章绪论................................................................................................................................................1第二章PID控制........................................................................................................................................32.1经典PID控制系统的分类与简介...................................................................................................32.1.1P控制.........................................................................................................................................32.1.2PI控制........................................................................................................................................32.1.3PD控制......................................................................................................................................32.1.4比例积分微分（PID）控制.....................................................................................................32.2PID的算法和参数.............................................................................................................................42.2.1位移式PID算法.......................................................................................................................42.2.2增量式PID算法.......................................................................................................................52.2.3积分分离PID算法...................................................................................................................62.2.4不完全微分PID算法...............................................................................................................62.3PID参数对系统控制性能的影响.....................................................................................................72.3.1比例系数KP对系统性能的影响.............................................................................................72.3.2积分时间常数Ti对系统性能的影响.......................................................................................72.3.3微分时间常数Td对系统性能的影响......................................................................................82.4PID控制器的选择与PID参数整定................................................................................................82.4.1PID控制器的选择.....................................................................................................................82.4.2PID控制器的参数整定.............................................................................................................8第三章模糊控制........................................................................................................................................93.1模糊逻辑与模糊控制的概念...........................................................................................................93.1.1模糊控制相关概念....................................................................................................................93.1.2模糊控制的优点......................................................................................................................103.2模糊控制器的基本结构与工作原理.............................................................................................103.3模糊控制器各部分组成.................................................................................................................113.3.1模糊化接口..............................................................................................................................113.3.2知识库.......................................................................