模糊控制毕业论文Word格式文档下载.docx

1、 Fuzzy Control; Fuzzy Controller; Status and Prospects.引言传统的常规PID控制方式是根据被控制对象的数学模型建立，虽然它的控制精度可以很高，但对于多变量且具有强耦合性的时变系统表现出很大的误差。比例调节是根据被调量和设定值之间的差值来变化的，也就是说比例控制中余差不可避免。积分调节最终实现无余差调节，但是超调比较大。模糊控制是建立在人工经验基础之上的,它能将熟练操作员的实践经验加以总结和描述,并用语言表达出来,得到定性的、精确的控制规则,不需要被控对象的数学模型。并且模糊控制易于被人们接受,构造容易,适应性好。The introducti

2、onTraditional way of conventional PID control was established according to the mathematical model of controlled object, although it can be very high control precision, but for the multi-variableand time-varying systems with strong coupling showed great error. Proportional control is based on the dif

3、ference in value between set value and quantity of the modulated to change, that is to say, proportional control of residual is inevitable. Integral regulation achieve everything in a glance at poor regulation, but the overshoot is bigger. Fuzzy control is based on the artificial experience, it can

4、skilled operators practical experience summarized and described, and the language expression, get a qualitative, precise control rules, not need mathematical model of controlled object. And fuzzy control is easy to be accepted by people, easy structure, good adaptability.第一章 模糊控制概述1.1模糊控制的概念及应用“模糊”是

5、人类感知万物,获取知识,思维推理,决策实施的重要特征。“模糊”比“清晰”所拥有的信息容量更大,内涵更丰富,更符合客观世界。模糊逻辑控制（Fuzzy Logic Control）简称模糊控制（Fuzzy Control），是以模糊集合论、模糊语言变量和模糊逻辑推理为基础的一种计算机数字控制技术。模糊控制理论是由美国著名的学者加利福尼亚大学教授ZadehLA于1965年首先提出,它是以模糊数学为基础,用语言规则表示方法和先进的计算机技术,由模糊推理进行决策的一种高级控制策。在19681973年期间ZadehA先后提出语言变量、模糊条件语句和模糊算法等概念和方法，使得某些以往只能用自然语言的条件语句

6、形式描述的手动控制规则可采用模糊条件语句形式来描述，从而使这些规则成为在计算机上可以实现的算法。1974年,英国伦敦大学教授MamdaniEH研制成功第一个模糊控制器, 并把它应用于锅炉和蒸汽机的控制，在实验室获得成功。这一开拓性的工作标志着模糊控制论的诞生并充分展示了模糊技术的应用前景。模糊控制实质上是一种非线性控制，从属于智能控制的范畴。模糊控制的发展最初在西方遇到了较大的阻力；然而在东方尤其是在日本，却得到了迅速而广泛的推广应用。其典型应用的例子涉及生产和生活的许多方面， 以下为模糊控制在工业和生活方面的一些应用实例：1净水场药品注人控制、上下水道处理系统2各种溶沪： 电气炉 水泥生成炉

7、的控翻、原子能发电供水控制、金属板成形控制3城市垃圾焚烧炉的控制4随道盾构机械、油压掘进机械、集装箱吊装的控制5高速公路隧道的排气、换气控制6汽车的定速行走控制、发动机的控制、模糊AT 、自动观光船7飞机离着陆控制、直升飞机控制、海上救难船控制8机器人的控制： 扫除机械人、花道机械人、激光切割机器人、钓鱼机器人、9升降机群管理、自动枪票机、自动门开关装置、自动贩卖机10空调控制制冷 、制热机、多路空调系统、铁道车辆、11造纸机、清酒酿造控制12自动声音调整器、传感器位置选择13电视会议系统、簇像机、电子喷水器、录像机、照像机、复印机、绘图机14家电制品: 洗衣机、吸尘器、干澡机、冷藏箱、电子微

8、波炉,电饭锅、电动剃须刀、1.2模糊控制的优点 1简化系统设计的复杂性，特别适用于非线性、时变、模型不完全的系统上。 2利用控制法则来描述系统变量间的关系。3不用数值而用语言式的模糊变量来描述系统，模糊控制器不必对被控制对象建立完整的数学模式。4模糊控制器是一语言控制器，使得操作人员易于使用自然语言进行人机对话。5模糊控制器是一种容易控制、掌握的较理想的非线性控制器，并且抗干扰能力强，响应速度快，并对系统参数的变化有较强的鲁棒性和较佳的容错性。6从属于智能控制的范畴。该系统尤其适于非线性，时变，滞后系统的控制。1.3模糊控制的缺点 1模糊控制的设计尚缺乏系统性，这对复杂系统的控制是难以奏效的。

9、所以如何建立一套系统的模糊控制理论，以解决模糊控制的机理、稳定性分析、系统化设计方法等一系列问题；2 如何获得模糊规则及隶属函数即系统的设计办法，这在目前完全凭经验进行；3 信息简单的模糊处理将导致系统的控制精度降低和动态品质变差。若要提高精度则必然增加量化级数，从而导致规则搜索范围扩大，降低决策速度，甚至不能实时控制；4.如何保证模糊控制系统的稳定性即如何解决模糊控制中关于稳定性和鲁棒性问题还有待完善。The first chapter is summary of fuzzy control1.1the concept and application of fuzzy controlFuzz

10、y human perception is everything, to acquire knowledge, thinking, reasoning, decision-making of important features. than clear have the information capacity of a larger, more abundant connotation, more in line with the objective world. Fuzzy Logic Control （Fuzzy Logic Control） referred to as Fuzzy C

11、ontrol （Fuzzy Control）, based on the Fuzzy set theory, Fuzzy language variable and Fuzzy Logic reasoning is the basis of a computer numerical Control technology. Fuzzy control theory is by the famous scholar at the university of California professor Zadeh, l. a. first proposed in 1965, it is based o

12、n fuzzy mathematics, expressed in the language rules method and advanced computer technology, by the fuzzy reasoning to make decisions of an advanced control strategy. During the period of 1968 1973, Zadeh, l. a. successively proposed language variable, fuzzy algorithm and the fuzzy conditional stat

13、ement concepts and methods, make some of the past can only use natural language form of conditional statements describe the manual control rules can be used to describe fuzzy conditional statement form, so as to make these rules can be implemented on computer algorithm. In 1974, a professor at the u

14、niversity of London Mamdani, E, H, successfully developed the first fuzzy controller and apply it to the boiler and the control of the steam engine, to succeed in the laboratory. This pioneering work marks the birth of the fuzzy control theory and fully shows the application prospect of fuzzy techno

15、logy.Fuzzy control is essentially a kind of nonlinear control, from belongs to the category of intelligent control. Fuzzy control is one of the biggest characteristic is both a systematic theory, and with a large number of practical application background. The development of fuzzy control is first e

16、ncountered in the west the larger resistance; In the east, especially in Japan, however, has obtained the rapid and extensive popularization and application. Its typical application example involves many aspects of production and life, the following is some applications of fuzzy control in the aspec

17、t of industrial and living example:Drug injection water purification field population control, sewage treatment systemAll kinds of soluble Shanghai: cement generated in electric furnace control turn, nuclear power generation, water supply, sheet metal forming controlControl of urban garbage incinera

18、torThe tunnel shield machine, hydraulic excavating machinery, container lifting controlExhaust and ventilation control of highway tunnelIn constant speed control, automotive engine control, automatic fuzzy ats, sightseeing boatsAircraft, helicopters from landing control control, maritime rescue boat

19、The robots control: cleaning robots, ikebana robots, fishing, laser cutting machine,Lift the fleet management, gun ticket machine, automatic switching device, automatic vending machinesRefrigeration and air conditioning control system of engine, multi-channel air conditioning system, railway vehicle

20、,Paper machine, wine brewing controlAutomatic sound regulator, sensor location choiceVideo conference system, cluster like machine, electronic sprinkler, VCR, camera, copy machine, drawing machineHome appliances products: washing machines, vacuum cleaners, dry bath machine, cooler, electronic oven,

21、electric rice cooker, electric razor1.2the advantages of fuzzy control1 to simplify the complexity of system design, especially for nonlinear, time-varying and model incomplete system.2 control law is used to describe the relationship between the system variables.3 language instead of numerical type

22、 of fuzzy variables to describe the system, the fuzzy controller dont need to establish a comprehensive mathematical model of controlled object.4 controller, fuzzy controller is a language that operators easy to use natural language for the man-machine dialogue.5 fuzzy controller is a kind of easy t

23、o control and mastery of the ideal nonlinear controller, and strong anti-jamming capability, fast response speed, and the change of system parameters has strong robustness and better fault tolerance.6 from belongs to the category of intelligent control. This system is especially suitable for nonline

24、ar, time varying and lag control system.1.3 the disadvantage of fuzzy control1 the design of the fuzzy control is still lack of systematic, the control of complex systems is difficult to work. So how to establish a system of fuzzy control theory, in order to solve fuzzy control mechanism, stability

25、analysis, systematic design method for a series of problems;2 how to obtain fuzzy rules and membership functions, system design, complete with experience for this in the present;3 simple fuzzy information processing will reduce control precision of the system and the dynamic quality becomes poor. If

26、 you want to improve the accuracy of inevitable to increase the quantitative series, leading to rule search scope, reduce the decision-making speed, cant even real-time control;4. How to ensure the stability of the fuzzy control system is how to solve the fuzzy control on the stability and robustnes

27、s problems remains to be perfect.第二章 模糊控制器的设计2.1 模糊控制系统的原理图1 常见负反馈控制系统方框图由测量装置、控制器、被控对象及执行机构组成的自动控制系统，就是人们所悉知的常规负反馈控制系统。其结构如图1所示。然而经过人们长期研究和实践形成的经典控制理论，虽然对于解决线性定常系统的控制问题非常有效。随着计算机尤其是微机的发展和应用，基于由于式中模糊量，所以为了对被控对象施加精确的控制，还需要将其清晰化转换为精确量u，然后经D/A得模拟量送给执行机构，对被对象进行第一步控制。然后中断等待第二次采样，进行第二步控制.这样循环下去就实现了对被控对象的模糊控制。2.2模糊控制器的基本结构模糊控制器的基本结构包括知识库、模糊推理、输入量模糊化、输出量精确化四部分。1.知识库 知识库包括模糊控制器参数库和模糊控制规则库。模糊控制规则建立在语言变量的基础上。语言变量取值