自整定模糊PID控制器在倒立摆起重机模式运行中的实时性能评价

2016 International Conference on Intelligent Control Power and Instrumentation (ICICPI) Pub Date : 2016-10-01 DOI:10.1109/ICICPI.2016.7859666

Amit Khan, Barnali Chatterjee, C. Dey

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引用次数: 3

摘要

为了提高倒立摆在起重机模式下的运行性能，设计了一种自整定模糊PID控制器(STFPID)。与传统PID和模糊PID控制器(FPID)的性能相比，STFPID的有效性得到了证明。倒立摆是一种典型的非线性系统，它的自由悬挂方式是实现起重机日常运行的一种普遍接受的形式。这里，STFPID的输出比例因子根据最新的过程状态连续变化。仿真研究和实时实验证明了STFPID与传统PID和FPID相比的优越性。此外，与传统PID控制器和模糊PID控制器相比，STFPID控制器的鲁棒性更强。

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Real time performance evaluation of a self-tuning fuzzy PID controller on an inverted pendulum in crane mode operation

A self-tuning fuzzy PID controller (STFPID) is developed to enhance the performance of an inverted pendulum in crane mode operation. Efficacy of STFPID is justified against the performance of a conventional PID and fuzzy PID controller (FPID). Inverted pendulum is a typical example of a nonlinear system and its free hanging mode is a well accepted form to realize a usual crane operation. Here, STFPID is designed with a continuous variation of its output scaling factor depending on the latest process status. Simulation study along with real time experimentation justifies the superiority of STFPID in comparison with conventional PID and FPID. Moreover, performance of STFPID is found to be more robust in comparison with conventional and fuzzy PID controllers.

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2016 International Conference on Intelligent Control Power and Instrumentation (ICICPI)

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