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(》2007923PIODesignofAdaPtiveFuzzyPDICnotrollerwitVhariableUniveres(159000)(GuagjoUniversitfoeTehno。、Guanhuo159000,China)panYoningWangQinruo:、,IPDIPD。IPD,PID,。。:PIDAbstaret:BasedonthetheooffuzzyeonlorlwithvairableunivesreandfuzzyPIDeontorl,anadaptivefuzzyPIDeontorllerwilhvairal)leuniverseofraelassoflargelagandtimevaingsystem15porsed.Thesolutioneombinestheadvantageofobthtraditionalfuzz》,PIDeonrrollerandfuzzyeontrollerwithvairableuniverse,improvestheadjustingpereisionandranoffuzzyPIDeontorller’paarmetesrthorughuni·vesreadjusting,andhaswelladaptiveabilityandorbustness.ThesimulatingresultsdemonstartetheeffectivenessofthisaPPorach·Keywords:vairableuniverseadaptiveeontorlfuzzyPIDeontml[]TP273:4[]^[]10X()3556(2007)030009041,、,、、。。、。。PD,。IPD,,PID,PIDl2j。PID,PID,`,6,。、,17’IPD,IPD。IPD,IPD。2IPO2.1,,xl[E,E]、X2[EC,EC]Y=[U,U]。、。e,l11、(i}c《Ci}(li`n)、X2Yl8];。i、eci、Ai、i、ci,EeleZenE,ECeelecZ.cenEc,u.u。【iy}Y,’9,,:Ife15Aiandee15Bithen156,A{iA}、B1iBl(1`in),iA、iB:,(。,。。),`(。)。`(。。)(l)。,ce),。,。,”’:,,。。,1,[E.E]a(。)(a10,l])[a(。)E,(。)E],a(。)。。,`a(e)、(ee)7()x、xZY:ei(o)=。i、eei(0)=cei”(o)=i(l`n);。(k)、。c(k)k)(k);。i(k)、。ei(k)iy(k)。。(x)E(x)ElE!eCtriCS!Automtn19《)200792IntelligentControlTechnICs:。(6)ei()a〔。()]。i(o),。ci()[。。()]。ei(o):(+l)r[e(),,e(),〕,`[。(*),、]`[ec(k),、〕,`(k):7(t)`[e,e。〕,[。.ce][,t,2〕『K,。【0.lt:,`,,、!;〔,1·`·,+;2`·,]d7,`o,(7)、.,、,.,`j`、.、(2)、(3):,(+l)[,(`)Iv。()/a[e()l,。e()/e()]}(4),[,(*)〕,`。(、)/。[,(、。`《。e(、)/[。(*)〕,(o)l。,,。、,,2.2PIDPIDPID,、。,,。PID,IPD,PID。,eK、eK。、iK、dK,,。:,t;,。PID2。,E、EC。、ec,KP、KI、KDt。ty。。。t。a、、,、.。0)。(7):,(*);:【,,e(、)+ljZe。(、,(o)(s)T。,、x2,,:,`;,[()”·({、:。,。(、)+。。。(k)』+,(o)}(9)(4)(9):,(、·1[()”·()”](1。){、:,,1.:(*)+,Zce(、),+,(o)},`{。;k)1,.r。e(k)J`U(or)、、,。3Matlab3.1,、:c(:),-e、115+l)I+l)(11),:,lT、。【11],1.57,lT52.5,52.5,14.85。3.2PDI3,,NB、NM、Ns、20、、PM、PB。、iK、,l`”’。2PID2.3l’“},。、。。XlXZ:a`·,()”,。(ec)=()”(5)。。lE.E].。。c[EC,EC],0:ll,0,2l。、KI、KDY,7Yi,。。le,ec]r,:im.1。(t)11o,7(,)。(t)10!ECtrCS{AUtomstOn——3IPDIPD:+,iK=iK`+△,dKdK’+d(12)zieglerNieholspID`、`、’。3.3《.)2oo729”ellie.oOntecnhics1PD...NBBBNMMMNSSSZ000PSSSPMMMPBBBNNNBBBPB/NB/PSSSPB/NB/PSSSPM/NB/2000PM/NM/2000PS/NM/2000/20/PBBB20/20/PBBBNNNMMMPB/NB/NSSSPB/NB/NSSSPM/NM/NSSSPM/NM/NSSSPS/NS/200020/20/NSSS20/20/PMMMNNNSSSPM/NM/NBBBPM/NM/NBBBPM/NS/NMMMpS/NS/NSSS20/20/2000Ns/PS/PSSSNM/PS/PMMMZZZ000PM/NM/NBBBPS/NS/NMMMPS/NS/NMMM20/20/NSSSNS/PS/2000NM/PS/PSSSNM/PM/PMMMPPPSSSPS/NS/NBBBPS/NS/NMMM20/20/NSSSNS/PS/NSSSNS/PS/2000NM/PM/PSSSNM/PM/PSSSPPPMMM20/20/NMMM20/20/NSSSNS//NSSSNM/PM/NSSSNM/PM/2000NM/PB/PSSSNB/PB/PSSSPPPBBB20/20/PsssNS/20/2000NS/PS/2000NM/PM/2000NM/PBz2000NB/PB/PBBBNB/PB/P()l,PIDPIDt。(2),PIDIPD,t:eK.c``(13)。。.,、。c。:。、ce。“,l:、!}0’,,·`,,}(ITAE)(14)、iK、dKrr^:IPD。(5),。(。)=、`.。(。)(.、“:,r2.:1r.x2,:=“、`、E,’、“’、EC,’~~.“~’“J’`’“’`1,7(0)=l。3.4MaltabPID。PID、PID(F’I,DI)、IPD(VFIPD),ID、vID。,O,1,t=10005,%t,`(2%)。4。FPIDVFPID。VDI,,。l。5、50。FPID,%13,`345。,VFPID9,::=3455。VDI,FPID。6、、50%。FPID%19.5,`455,,vFPID%12.8,`400。。vFPDI,FPID。7lT、、、:50%。FPIn=28,.t4705,VFPxD%=20,t:455。。ID,。VFPDI,FPID。。4,:。(3)PIDPID。PIDPID,PIDPID,、。11].PID.E,1999,29(2):136145【2],,Smiht【J].,1998,13(2):141145[3],,.IPD【lJ.().20()3,25(3):7477【4〕,IPDIPDIJ].,2H,1:265~66【51,,.IPD【J].,20()l,21(9):38~42【6J,IPDIjJ.,20()l,29(6):2527【7]..E,999,29:3242,.lT、、.K、r50%(2S)EltrIAtLJ”ati!11Eleetr!cDrive&AutomatieContml()2007923、、(AJ)C、、、、、。3.3.3HM】、、HMI,、、、。oo~WinCC6.OHMI。4。44oomm2005629。,,AGC、、AJC,、。7,,、,。,,95%、20℃95%、1.5~3mm0.05Ommoo%,8~18~h/*lX()%90%、,。505823AGc,,AGC0.050m。5TDC,,。TDC、、,,1500~。,AGC、AJC、、SIEMENSDTC、,,。【l],,.1500mm【Ml.,:,2005(10):772775【2],.【IJ.,.2004(5):l4【3].20【”.,2〕4(6):1014〔41.【IJ..2004(3):13~14【5],,.AGC【IJ.,2X()2(5):553555【6】.【lJ.,2004(9):913l1(1971),,,,、。5AGC(n)l.FuZ.yuFzzyIJJ.997,14(6):868872l..E,1998,28(3):259、267【10】,,.【J].,20()5(4):98I0()【111,,.IPD[J].,2X()4(5):4550[12].PIDMALT^B(2)[M].:,2Xf13lGuoXia.0ntoopmarirx^,OP`mumOC。etionaodInuone。ofNonline“tyontSabilityofOPtimumSyatem【JI,cSientiaSinioa(`es^).1982,25(5):888~896【J(1982),.。:,。(1958),,.,。:、、。eCitrCalAtU,111