四种先进PID控制方法及性能比较

针对常规PID参数固定，使得应用范围受到限制的问题，研究四种先进PID控制方法。在常规PID基础上，分别引入模糊技术、Vague技术以及遗传算法，提出Fuzzy—PID、Vague—PID、GA—Fuzzy—PID、GA—Vague—PID控制方法并对其控制性能进行比较。在介绍常规PID的基础上，引入智能技术，在线实时调整PID的三个参数，即自适应PID。利用模糊控制对被控对象模型精度要求不高且鲁棒性高、解耦性强的优点，构成Fuzzy—PID；基于Vague集相似度量的近似推理更符合实际，易于得到控制量，便于工程实践，构成Vague—PID；利用遗传算法（Genetic Algorithms，简写成GA）实现对模糊控制规则的整定，构成GA—Fuzzy-PID、GA—Vague－PID。给出上述四种自适应PID设计方法，并从理论上进行分析比较，指出各自优缺点。仿真结果表明：上述自适应PID较常规PID上升时间短、响应速度快；引入GA整定后的GA—Fuzzy-PID、GA－Vague—PID分别比未引入GA的Fuzzy－PID、Vague－PID上升时间短、响应速度快。

Four Kinds of Advanced PID Control Methods and Comparison of Their Performance

As the parameters of classical PID is fixed,the application areas are limited.For above reson,four kinds of advanced PID control methods are researched.On the base of classical PID,fuzzy technique,vague technique and Genetic Algorithms are respectively introduced so as to put forward control methods of Fuzzy-PID、Vague-PID、GA-Fuzzy-PID、GA-Vague-PID and their performance is compared as well.On the base of classical PID,intelligent technique is introduced so as to timely online adjust the three parameters of classical PID,which forms self-adaptive PID.Because Fuzzy control possesses excellent roburst and decouplity and doesn’t have strict demand for the model’s precision of the objects under control,it can make up of Fuzzy-PID;measures of similarity reasoning using vague sets are close to practice and easy to obtain control amount,so it can make of Vague-PID;fuzzy inference rules can be optimized by the genetic algorithm,so it can make up of GA-Fuzzy-PID and GA-Vague-PID.The above four kinds of self-adaptive PID control methods are designed in the paper.Analysis and comparison are given in theory,and each advantage and disadvantages are pointed out.The simulation results show that the above self-adaptive PID control methods have a quicker rise time and a more fast response speed than classical PID and the methods introduced into GA have a quicker rise time and a more fast response speed than not.