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模糊PID控制及其MATLAB实现姓名：专业班级：学号：授课教师：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。而单纯的模糊控制器有其自身的缺陷—控制效果很粗糙、控制精度无法达到预期标准。但利用传统的PID控制器和模糊控制器结合形成的模糊自适应的PID控制器可以弥补其缺陷；它将系统对应的误差和误差变化率反馈给模糊控制器进而确定相关参数，保证系统工作在最佳状态，实现优良的控制效果。论文介绍了参数自适应模糊PID控制器的设计方法和步骤。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。关键词:经典PID控制;模糊控制;自适应模糊PID控制器;参数整定;MATLAB仿真ABSTRACTPID(ProportionIntegrationDifferentiation)control,withlotsofadvantagesincludingsimplestructure,goodstabilityandhighreliability,isquitesuitabletoestablishespeciallythecontrolsystemwhichaccuratemathematicalmodelisavailableandneeded.However,takenmultivariable,nonlinearandtime-lagintoconsideration,traditionalPIDcontrollercannotreachtheexpectedeffect.AlongwiththedevelopmentofFuzzyMathematics,controlengineersgraduallypaymuchattentiontotheideaofFuzzyControl,thuspromotingtheinventionoffuzzycontrollers.However,simplefuzzycontrollerhasitsowndefect,wherecontroleffectisquitecoarseandthecontrolprecisioncannotreachtheexpectedlevel.Therefore,theFuzzyAdaptivePIDControlleriscreatedbytakingadvantageofthesuperiorityofPIDControllerandFuzzyController.Takenthiscontrollerinuse,thecorrespondingerroranditsdifferentialerrorofthecontrolsystemcanbefeedbackedtotheFuzzyLogicController.Moreover,thethreeparametersofPIDControllerisdeterminedonlinethroughfuzzification,fuzzyreasoninganddefuzzificationofthefuzzysystemtomaintainbetterworkingconditionthanthetraditionalPIDcontroller.Meanwhile，thedesignmethodandgeneralstepsareintroducedoftheParameterself-settingFuzzyPIDController.Eventually,theFuzzyInferenceSystemsToolboxandSIMULINKtoolboxareusedtosimulateControlSystem.TheresultsofthesimulationshowthatSelf-organizingFuzzyControlSystemcangetabettereffectthantheClassicalPIDcontrolledevidently.Keywords:ClassicPIDcontrol;FuzzyControl;Parameterstuning;theFuzzyAdaptivePIDController;MATLABsimulation目录第一章绪论...............................................................................................................11.1研究的背景及意义................................................................................................11.2经典PID控制系统的分类与简介........................................................................21.2.1P控制...............................................................................................................21.2.2PI控制..............................................................................................................21.2.3PD控制............................................................................................................21.2.4比例积分微分（PID）控制...........................................................................21.3模糊逻辑与模糊控制的概念................................................................................31.3.1模糊控制相关概念.........................................................................................31.3.2模糊控制的优点.............................................................................................41.4模糊控制技术的应用概况....................................................................................41.5本文的研究目的和内容........................................................................................5第二章PID控制........................................................................................................62.1PID的算法和参数..................................................................................................62.1.1位移式PID算法.............................................................................................62.1.2增量式PID算法.............................................................................................72.1.3积分分离PID算法.........................................................................................72.1.4不完全微分PID算法.....................................................................................82.2PID参数对系统控制性能的影响..........................................................................92.2.1比例系数KP对系统性能的影响...................................................................92.2.2积分时间常数Ti对系统性能的影响............................................................92.2.3微分时间常数Td对系统性能的影响............................................................92.3PID控制器的选择与PID参数整定....................................................................102.3.1PID控制器的选择.........................................................................................102.3.2PID控制器的参数整定.................................................................................10第三章模糊控制器及其设计.................................................................................113.1模糊控制器的基本结构与工作原理..................................................................113.2模糊控制器各部分组成......................................................................................113.2.1模糊化接口...................................................................................................113.2.2知识库...........................................................................................................123.2.3模糊推理机....