Optimal Fuzzy PID Controller with Incomplete Derivation and Its Simulation Research on Application of Intelligent Artificial Legs
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
查看参考文献8篇
文摘
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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. |
其他语种文摘
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提出了一种新的最优模糊PID控制器,它由两部分组成,即在线模糊推时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进非常有效的,它可被用来控制各种不同的对象和过程。 |
来源
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控制理论与应用
,2002,19(3):462-466 【核心库】
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关键词
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incomplete derivation
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fuzzy PID controller
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adjustable factors
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flexible polyhedron search algorithm
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intelligent artificial leg
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地址
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1.
Institute of Robotics, Central South University, Changsha, 410083
2.
中科院沈阳自动化所, Robotics Laboratory,CAS, Shenyang, 110015
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语种
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英文 |
文献类型
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研究性论文 |
ISSN
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1000-8152 |
学科
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自动化技术、计算机技术 |
基金
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中国科学院沈阳自动化研究所机器人学重点实验室基金
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文献收藏号
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CSCD:947459
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