34 results about "Fuzzy self tuning" patented technology

The invention provides a quadrotor aircraft and a control method thereof. The quadrotor aircraft includes a body and an aircraft control module, and a navigation and inertial measurement module, a power module, a communication module and a motor drive module separately connected with the aircraft control module. The main controller module performs synthesis calculation of real-time flight attitude information and control information of the communication module fed back by the navigation and inertia measurement module to output motor control signals to control the motor drive module. The quadrotor aircraft of the invention can automatically adapt to changes of the external environment to modulate flight parameters to reach a predetermined control effect. In the control method, the flight controller module adopts a nerve-based fuzzy self-tuning PID control scheme to calculate a practical output variable to improve robustness of flight of the aircraft.

The invention provides a method and a system for self-adjusting fuzzy PID (Proportion Integration Differentiation) parameters in a furnace temperature control system. The method comprises the following steps: selecting and quantifying variables in a PID controller and finding out a fuzzy relation of three PID control parameters including a proportionality coefficient KP, an integral coefficient KI and a differential coefficient KD , and system deviation e and a deviation varying rate ec; establishing a fuzzy relation table; and carrying out online modification on the three parameters by a fuzzy control method. The system corresponds to the method. After PID parameter online fuzzy self-adjustment is carried out, a normal working state is automatically switched, and a PID parameter adjusting process is automatically started when system performances are changed and the readjusted PID parameters so that the system has the better control quality.

The invention belongs to the technical field of computerized flat knitting machines, in particular to a method for controlling operations of a shaker of a computerized flat knitting machine. The method comprises the following steps: collecting real-time operation information of a servo motor; inputting the obtained operation information of the servo motor into an information processor to calculate; calculating an offset value in the step (2) by adopting an adaptive fuzzy PID control algorithm so as to obtain current revised data and then inputting the revised data into a program controller; calculating current Kp, Ki and Kd values by utilizing a fuzzy self-tuning rule and carrying out discretization processing through an incremental PID calculation; and outputting control signals to the servo motor by the program controller according to a control program to realize the automatic operation error correction and the precise operation control of the shaker. The invention can avoid needle transferring and connecting deviations and ensure that the computerized flat knitting machine works in an optimal state all the time, thereby solving the problem of unstable precision of the shaker inan operation process of the computerized flat knitting machine.

The invention discloses a CompactLogix-based fuzzy self-tuning PID liquid level control method which comprises the following steps: in step 1, actual liquid level signals y are subjected to sampling, filtering, tuning and quantifying operation; deviation e and a change rate ec of the deviation between the actual liquid level signals y and preset liquid level signals yd are calculated; in step 2, input quantities are subjected to fuzzification, fuzzy reasoning and deblurring operation; output quantities [delta]Kp, [delta]Ki and [delta]Kd of a fuzzy controller can be obtained finally; in step 3, based on an initial benchmark value set in a conventional PID controller, three parameters of a PID controller is obtained, and control output is calculated and is applied to an object being controlled. Via the control method, a problem that the conventional PID control parameter setting is high in difficulty and low in efficiency and difficult in realization of optimal control effects can be solved.

The invention discloses a fuzzy self-tuning PID control method used for a denitration control system. The error of the output and the expected value of a controlled object and the change rate of the error are returned under the operation state of a coal-fired unit SCR denitration system, the parameters of the PID are adjusted online according to the fuzzy inference principle and the controlled object can be adjusted to the original state when the controlled object changes. The advantages of the fuzzy self-tuning PID control method used for the denitration control system are that the fuzzy self-tuning PID method does not need to know the exact mathematical model so that the difficulty in modeling can be avoided, the PID parameters can be adaptively modified in real time to be adaptive to the change of the condition and thus the method is intelligent, reduces the burden of operation personnel and the result is better than that of the conventional control.

The invention provides a constant-temperature water bath control method based on a feedforward feedback fuzzy self-tuning PID control algorithm. The constant-temperature water bath control method comprises the following specific steps: 1) measuring a temperature step curve of a constant-temperature water bath; 2) establishing a thermostatic water bath temperature mathematical model; and 3) performing controlling by adopting a fuzzy PID control algorithm. According to the invention, the fuzzy PID control system is applied to the constant-temperature water bath monitoring system, and has great significance in improving the stability of the system, improving the dynamic performance of the system, enhancing the adjustment level of the system, improving the control efficiency, ensuring the measurement quality and saving energy.

The invention discloses a fuzzy self-tuning PID control method comprising the steps that an error tracking signal and an error differential signal are acquired by using a tracker and a differentiator;the tracker and the differentiator are mutually independent; and PID parameter self-tuning is performed according to the error tracking signal and the error differential signal by using a fuzzy self-tuning PID algorithm, and the total control amount is calculated according to the PID parameters after self-tuning and outputted to the controlled object so that the controlled object is adjusted andcontrolled. The mutually independent tracker and the differentiator are adopted, and the error tracking signal and the error differential signal of great performance can be acquired by reasonably setting the relevant parameters of the tracker and the differentiator so that the contradiction between the problem of phase delay in case of signal tracking and the problem of noise amplification and waveform distortion in case of signal differentiation can be avoided and the overall control effect can be effectively enhanced. The invention also discloses a fuzzy self-tuning PID control system whichhas the beneficial effects.

The invention provides a servo control method for the gasoline engine speed in a hydraulic system of a legged robot. The servo control method comprises the following steps: (1) calculating the engine speed error e and the engine speed error change rate ec; (2), after the fuzzy logic calculation of e and ec, outputting the proportionality coefficient increment delta kp and the integral coefficient increment delta ki; (3) calculating the proportionality coefficient and the integral coefficient according to the following formulas correspondingly: kp = kp0 + delta kp and ki = ki0 + delta ki; (4) calculating the accelerator opening degree according to the following formula: S1 = S1_old + kp*ec + ki*e; (5) calculating the accelerator opening degree change caused by the hydraulic oil flow rate change according to the following formula: S2 = kQ*detal Q; and (6) calculating the final accelerator opening degree Sf = S1 + S2, wherein the rotation of a steering engine is controlled through the accelerator opening degree in the PWM form, the air inlet volume is controlled by controlling the opening degree of an engine throttle valve through an accelerator cable, and finally the engine speed is controlled. The servo control method provided by the invention has the advantages that the feedforward control is adopted, so that the stable engine speed can be guaranteed well under the circumstance that the flow rate changes suddenly; parameters are modified online by adoption of fuzzy self-tuning, so that the different control requirements can be met; and accordingly, the hydraulic system can have the good dynamic property and static property.

The invention discloses a system based on fuzzy self-tuning single neure PID control and a method thereof. A fuzzy controller is used to calculate the gain K needed by a single neure PID controller, after the single neure PID controller obtains the gain K, a control step length is solved and obtained through the single neure PID controller, and finally the effective control of rotor unbalance is realized. The defects of low balance efficiency and low balance precision of a traditional PID control method can be overcome, thus the control efficiency is improved, and the effective control of a balance head is realized.

The present invention relates to a magnetic combined navigation method of an AGV (automated guided vehicle). The method mainly comprises a combination method of command magnetic tapes, a signal filtering algorithm and an AGV navigation control algorithm. According to the magnetic combined navigation method, a plurality of magnetic tapes are combined into a function command; magnetic tapes are laid in a crossed manner between commands; command magnetic tapes of the same polarity are laid inconsecutively at the same sampling point; the signals of a command sensor are received through IO external triggering interruption, the effectiveness of the signals is analyzed through detecting the duration and receiving sequence of the signals; the signals of a navigation sensor are received through an IO scanning mode, and whether the signals are discarded is determined through detecting the continuity of the sampling points and the duration of the signals; and control speed is calculated based on the deviation distances of the center of the navigation sensor and the centers of the magnetic tapes through using the fuzzy self-tuning PD control law, and the control speed is provided for a motor, and therefore, the pose of the AGV is adjusted. The method of the invention has the advantages of reliable signal sampling, effective and robust controller and good navigation control effect.

The invention belongs to the field of hot-rolled strip steel flying shear control engineering, and relates to a hot-rolled strip steel optimized shearing method based on machine vision. The method is mainly combined with a machine vision principle, non-contact measurement is performed on a strip steel end deformation part caused by rough rolling on a hot rolling production line, optimization control is performed on a flying shear system through a fuzzy self-tuning PID controller, and the method comprises the following operation steps: 1) collecting a strip steel end image; 2) processing image information; 3) obtaining a three-dimensional contour; 4) performing three-dimensional convex hull operation; 5) making a fuzzy self-tuning PID controller decision; 6) transmitting a shearing signal by the controller; and (7) shearing by an executing mechanism. Based on a machine vision detection system, the three-dimensional profile of the end of strip steel is obtained in combination with an image processing unit, a flying shear mechanism is controlled through the fuzzy self-tuning PID controller, and a shearing mechanism carries out accurate shearing after receiving a signal sent by the controller. By means of a closed-loop control structure, online optimization of a hot-rolled strip steel flying shear system is achieved.

In order to ensure the scalability and stability of the magnetic navigation AGV control system, a magnetic navigation AGV control system was invented. Its hardware architecture is based on an embedded industrial computer, and multiple ARM processors that control peripheral devices are connected through the CAN bus. . Emphasis is given on the implementation of the system's motion controller and monitoring and management system. The motion controller is implemented based on the interrupt task scheduling mode, and the dynamic tracking behavior of the AGV is improved by the fuzzy self-tuning PD regulator; the monitoring and management system includes six interactive modules. Its sending and receiving communication process is completed cooperatively through timely thread suspension and step-by-step receiving matching operations. The on-site measurement shows that the AGv works stably and reliably, and the tracking effect is good.

The invention provides an isolated network frequency control method based on double-loop PID composite control. A rapid secondary frequency modulation function is added to a DEH system of an isolatedgenerator set, and the secondary frequency modulation function comprises outer loop fuzzy self-tuning PID control and inner loop traditional PID control; and when the rotating speed deviation is greater than a switching threshold value, the fuzzy self-tuning PID control is carried out through an outer loop, and when the rotating speed deviation is less than the switching threshold value, traditional PID control is carried out through an inner loop. The invention further discloses a corresponding control system. The fuzzy self-tuning PID has the advantages of being flexible in control and highin adaptability; the fuzzy self-tuning PID is switched into the traditional PID in an undisturbed mode under the assistance of small deviation so as to rapidly eliminate static errors, and therefore,the whole rapid secondary frequency modulation loop has the advantages of being rapid in dynamic response, small in overshoot, high in robustness, accurate in control effect and the like; frequency stability during isolated network operation is guaranteed; and production safety of enterprises is maintained.

The invention discloses a high-precision position control system for a belt type transmission device. The system is characterized by comprising a direct-current brushless servo motor and a speed reducer connected to the direct-current brushless servo motor, and a central shaft of a conveying belt is electrically connected to the direct-current brushless servo motor through a coupler; and an OPC client is connected to an OPC server, the OPC server is connected with a PLC, and the PLC is connected with the direct-current brushless servo motor for real-time control. According to the invention, a PID algorithm is realized in the PLC, the functions of fuzzy operation and judgment are realized by applying MATLAB, and the two functions are organically combined through an OPC technology, so that the real-time online fuzzy self-tuning of PID parameters is realized, and the stability and accuracy of the motor in a load state are improved.

The invention discloses an electric energy meter terminal base temperature control method and device based on a fuzzy PID algorithm, and relates to the field of electric energy meter terminal base temperature control. The electric energy meter terminal base temperature control method comprises the steps of collecting the actual temperature of an electric energy meter terminal base at each sampling moment; calculating a deviation value and a deviation value increment between the actual temperature of the electric energy meter terminal base and a preset temperature; carrying out fuzzy processing on the deviation value and the deviation value increment, determining a fuzzy relation between the PID parameter and the deviation value and the deviation value increment, and establishing a fuzzy rule table; modifying the PID parameter on line according to a fuzzy rule, and adjusting a PWM control parameter; and enabling a heating module to heat according to the adjusted PWM control parameter. According to the method, fuzzy self-tuning of PID parameters is realized, the control precision and stability of temperature control of the terminal base of the electric energy meter are improved, the heating time is effectively controlled, the temperature of the heating module is prevented from being too high, and the service life of the heating module is prolonged.

The invention relates to an ultrasonic detection system with self-adaptive emission voltage and a voltage regulation method. The method includes design of a numerical control bipolar ultrasonic excitation power supply, design of an ultrasonic echo receiving circuit and design of a fuzzy self-tuning PID control scheme. The method comprises the steps of setting an optimal ultrasonic echo signal amplitude according to system noise and an expected echo peak signal-to-noise ratio, setting a corresponding attenuation multiple, collecting the amplitude of an echo signal, calculating an error and an error change rate, carrying out fuzzy reasoning by using a fuzzy rule, searching a fuzzy rule table to carry out adjustment on parameters Kp, Ki and Kd, controlling the emission voltage of the numerical control bipolar ultrasonic excitation power supply according to the control quantity obtained by the PID controller, and providing an ultrasonic echo signal with a high signal-to-noise ratio and a stable amplitude for subsequent signal processing.