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1、TuningOfFuzzyPIDControllersJanJantzenjj@iau.dtu.dk:1$EVWUDFWSincefuzzycontrollersarenonlinear,itismoredifficulttosetthecontrollergainscom-paredtoproportional-integral-derivative(PID)controllers.ThisresearchpaperproposesadesignprocedureandatuningprocedurethatcarriestuningrulesfromthePIDdomainove
2、rtofuzzysingle-loopcontrollers.Theideaistostartwithatuned,conventionalPIDcontroller,replaceitwithanequivalentlinearfuzzycontroller,makethefuzzycontrollernonlinear,andeventuallyfine-tunethenonlinearfuzzycontroller.Thisisrelevantwhen-everaPIDcontrollerispossibleoralreadyimplemented.,QWURGXFWLRQ
3、Whenthecontrolproblemistoregulatetheprocessoutputaroundasetpoint,itisnaturaltoconsiderHUURUasaninput,eventoafuzzycontroller,anditfollowsthattheintegraloftheerrorandthederivativeoftheerrormaybeusefulinputsaswell.InafuzzifiedPIDcontroller,however,itisdifficulttotelltheeffectofeachgainfactoronther
4、isetime,overshoot,andsettlingtime,sinceitismostoftennonlinearandhasmoretuninggainsthanaPIDcontroller.TheobjectiveinthispaperistofindasystematictuningprocedurebycarryingPIDtuningrulesovertothefuzzydomain.Asystematictuningprocedurewouldmakeiteasiertoinstallfuzzycontrollers,anditmightpavethewayfor
5、auto-tuningoffuzzycontrollers.PIDcontrollersmaybetunedinavarietyofways,includinghand-tuning,Ziegler-Nicholstuning,loopshaping,analyticalmethods,byoptimisation,poleplacement,orauto-tuning(Smith,1979;Åström&Hägglund,1995).Furthermore,fuzzycontrollersshowsimilaritieswithPIDcontrollersundercertaina
6、ssumptions(Siler&Ying,1989;Mizu-moto,1992;Qiao&Mizumoto,1996;Tso&Fung,1997).Butthereisstillagap,itseems,betweenthePIDtuningmethodsandadesignstrategyforfuzzycontrollersofthePIDtype.Thispaperproposesadesignstrategy,whichmakesuseofknownPIDdesigntech-niques,beforeimplementingthefuzzycontroller:1.Tu
7、neaPIDcontroller2.Replaceitwithanequivalentlinearfuzzycontroller3.MakethefuzzycontrollernonlinearTechnicalUniversityofDenmark,DepartmentofAutomation,Bldg326,DK-2800Lyngby,DENMARK.Tech.reportno98-H871(fpid),April16,1999.1lnyRefeux+
