2 ?????PID?????

1
?????????????????
???? ?????
2

• 1 ??
• 2 ?????PID?????
• 3 ?????????
• 4 ???????
• 5 ??????
• 6 ??

3
? ?

• ?????????????,????????????,????????????,??????????
  ????,?????????????????????????????????,???????????
  ???????????????,???????????????
• ????????????? ??????

4
1 ? ?

• ??????????????????,???????????,???????????????????
  ?????????????????,???????,????????,???????????????
  ???????????????????,???????,???????????????????

5

• ???????????????????????????????,??????????????????
  ???,??????,??????????????,?????????????????????,??
  ??????????????????????,??????,????????????????????
  ?,????,???????

6

• ???????????
• ????????????????????????,??????????????????????
• ??????????,?????????????????????????????
• ???????????????,??????????
• ????????????(Approximatc Reasoning)?????????????
  ???????????,???????????????

7
2 ?????PID???

• ?????PID?????????????
• ????A??????PID???????,?????????????????

8

• ?A0?,?????????????????A1?, ???????PID?????????
  ,???????A??????????????,A?????????,A????

9
3 ???????

• 3.1?????????
• ?????????????????,????????,???????????????E??????E
  C,???????????u?????E?EC???E-6,-5,-4,-3,-2,
  -1,0,1,2,3,4,5,6,??????NB(??)?NM(??)?NS(??)?ZO(?)
  ?PS(??)?PM(??)?PB(??)???????????

10

• ?Matlab??????Fuzzy???????FIS??,???????????MAM-DANI
  ?,???????E?EC?U,?????????????????????,???????????E
  ??????EC ????????,???????????(Trimf)
  ??U??????????(Trimf)???????????(a),?(b)???

11

• ?(a) E(Ec)??????
• ?(b) U??????

12

• ??,????????????,???????????u-9,-8,-7,-6,-5,-4,-3
  ,-2,-1,0,1,2,3,4,5,6,7,8,9,??????NL(???)?NB(??)?N
  M(??)?NS(??)?ZO(?)?PS(??)?PM(??)?PB(??)?PL(???)???
  ??????? ?
• ???????????????????????????????????????????,?????
  ?????????????,???????????,???????????????????????
  ????,???????????????????????

13

• ??????????????????? IfE and?E thenU,?????????????
  ??,????49???????,???????????(??1??)?
• ?1???????

E EC EC EC EC EC EC EC
E NB NM NS ZO PS PM PB
NB PL PL PL PB PB PM PM
NM PL PB PB PB PM PS PS
NS PB PB PM PM ZO NS NM
ZO PM PS ZO ZO ZO NM NB
PS PM PS ZO PZ NM NB NB
PM NS NS NM NB NB NB NL
PB NM NM NB NB NL NL NL
14

• ????PID????????????????????????,????????????????2?
  ?2???
• ?2 ?????????????????
• ?2 ????????????????
• E NB NM NS ZO PS PM PB
• A ZO PS PM PB PM PS ZO

15
4?????

• MATLAB ??????????????????????,????????????????????
  ?????????????????,???????? (fuzzy
  logic)??????????????????????,???FIS
  ?????????????????????????,????????????????????????
  ????????????????,?????MATLAB ????????Simulink
  ???????,????????????????????,???????????

16

• 4.1????
• ????????????????,???????????16?,???22?????????Fuzz
  y Logic Controller??????????A,????????????????,???
  PID???????????????????Fuzzy Logic
  Controller1????????u???????,?PID??????????????????
  ??????T,??????????????????????????

17

• 4.2????
• ???????????????,?????,???????????????????????,????
  ????????????????Kd0.5,Ki0.5,Kp10?

18

• ???????????,?????????,??????
• ???????T50,K12,???????5S.
• ??????

19
(No Transcript)
20
(No Transcript)
21
5????

• ???????????????,????????20?30?,??????15????????,1
  3???????????????????????????????,?????????,???????
  ???????16?,???22?,??????,????????????????,????????
  ?????????????????????????,????????????????????????
  ?????????????????????????????

22
6??

• ??PID???????????????????,????????PID?????????PID??
  ???????,??????????,???????????????,???????????????
  ??????????????,??????????,??????????????????,?????
  ??????, ??????????????????,??????????