【摘要】 针对由日本新生公司生产的USR系列超声电机构成的速度伺服系统提出了一种新的控制方案——基于参考模型的模糊自适应控制。该控制器由参考模型、PI控制器、模糊自适应调节器构成,PI控制器的比例系数的增量ΔKP和积分系数的增量ΔKi根据模糊自适应调节器模糊推理的结果确定,使得控制器的参数能够随着被控对象参数的变化而改变,从而保证系统的响应跟踪参考模型的输出响应。实验结果表明该控制方案优于一般的PI控制器和模糊PI控制器,并且简单易行,通用性强。更多还原

【Abstract】 In this paper an effective control scheme using fuzzyadaptive controller based on reference model is proposed for the speed servo systems with the USR series ultrasonic motors of Shinsei Corporation in Japan The controller is made up of reference model, PI controller and fuzzyadaptive regulator The increments of the proportional gain and integral gain of the PI controller are determined from the results of fuzzy inference of the fuzzyadaptive regulator, so the parameters of the controller will vary with the perturbations of the controlled plant’s properties, and the response of the system will track the output of the reference model It is demonstrated by experiments that the usefulness and validity of the control scheme are better than PI control scheme and fuzzyPI control scheme, and the control scheme is simple and general更多还原