具有不完全微分的最优模糊PID控制器及其在智能人工腿中应用的仿真研究（英文）

Optimal Fuzzy PID Controller with Incomplete Derivation and Its Simulation Research on Application of Intelligent Artificial Legs

中文关键词  不完全微分  模糊PID控制器  可调节因子  柔性多面体搜索算法  智能人工腿

英文关键词  incomplete derivation  fuzzy PID controller  adjustable factors  flexible polyhedron search algorithm  intelligent artificial leg

中文摘要

      提出了一种新的最优模糊PID控制器, 它由两部分组成, 即在线模糊推理机构和带有不完全微分的常规PID控制器. 在模糊推理机构中, 引入了三个可调节因子x_p,x_i 和x_d,其作用是进一步修改和优化模糊推理的结果, 以使控制器对一个给定对象具有最优的控制效果. 可调节因子的最优值采用ITAE准则及Nelder和Mead提出的柔性多面体最优搜索算法加以确定. 这种PID控制器被用来控制由作者设计的智能人工腿中的一个直流电机. 仿真结果表明该控制器的设计是非常有效的, 它可被用于控制各种不同的对象和过程.

英文摘要

      A new kind of optimal fuzzy PID controller is proposed, which is composed of an on_line fuzzy inference mechanism and a conventional PID controller with incomplete derivation. In the fuzzy inference mechanism, three adjustable factors x p,x i, and x d are introduced. Their function is to further modify and optimize the result of fuzzy inference so that the controller has the optimal control effect on a given object. The optimal values of these factors are determined based on the ITAE criterion and the Nelder and Mead's flexible polyhedron search algorithm. The PID controller has been used to control a D.C. motor of the intelligent artificial leg designed by the authors. The result of simulation indicates that the controller is very effective and can be used to control different kinds of objects and processes.