6GT2002-0DC00PID控制是較早發(fā)展起來的控制策略之一，由于算法簡單、魯棒性好、可靠性高而廣泛用于過程控制和運(yùn)動(dòng)控制中，尤其適用于能建立精確數(shù)學(xué)模型的控制系統(tǒng)。但由于實(shí)際工業(yè)生產(chǎn)過程往往是非線性和時(shí)變不確定性的，難以建立精確的數(shù)學(xué)模型，因此常規(guī)PID控制器很難達(dá)到理想控制效果。
近年來，智能控制無論是理論上還是技術(shù)應(yīng)用上均得到了長足的發(fā)展，隨之不斷涌現(xiàn)將智能控制方法和常規(guī)PID控制方法融合在一起的新方法，形成了許多智能PID控制器。這些智能控制器不僅具備自學(xué)習(xí)、自適應(yīng)、自組織的能力，而且還有常規(guī)PID控制器結(jié)構(gòu)簡單、魯棒性強(qiáng)、可靠性高、為現(xiàn)場工程設(shè)計(jì)人員所熟悉等特點(diǎn)。目前主要有4種智能PID控制：基于智能PID控制、基于模糊推理的PID控制、基于神經(jīng)網(wǎng)絡(luò)的PID控制、基于遺傳算法的PID控制。
在本系統(tǒng)中，采用基于模糊推理的PID控制來實(shí)現(xiàn)對機(jī)車制動(dòng)氣缸壓力的精確控制。基于模糊推理的PID控制就是運(yùn)用Fuzzy Sets理論和方法將操作人員或者的整定經(jīng)驗(yàn)和技術(shù)知識總結(jié)成為Fuzzy規(guī)則模型，形成微機(jī)的查詢表格及解析式，根據(jù)系統(tǒng)的實(shí)際響應(yīng)情況，運(yùn)用模糊推理來實(shí)現(xiàn)PID控制。在PID控制算法基礎(chǔ)上增加求采樣時(shí)刻的偏差E和偏差變化率Ec，參數(shù)的Fuzzy自校正思想是根據(jù)被控對象的響應(yīng)在采樣時(shí)刻的E和Ec來確定kP，k1，kD三參數(shù)修正的方向和大小。其算法過程是利用對應(yīng)的規(guī)則集將控制指標(biāo)模糊化，然后利用他與知識庫中的模糊規(guī)則進(jìn)行匹配，如有規(guī)則被匹配，則執(zhí)行該規(guī)則的結(jié)果部分，就可以得到相應(yīng)的參數(shù)修正值。其結(jié)構(gòu)圖如圖2所示。
4.2 模糊PID控制器設(shè)計(jì)
控制系統(tǒng)的PID算法是根據(jù)壓力目標(biāo)值與實(shí)際值之差的比例值、積分值、微分值來確定控制量的大小。其算式為：
式中，e（t），e（t-1）分別為第t次及第t-1次采樣偏差值；pout（t）為第t次的控制量輸出值；kP，kI，kD分別為比例系數(shù)、積分系數(shù)和微分系數(shù)。合適的kP，kI，kD參數(shù)直接關(guān)系到控制的精度。
根據(jù)模糊數(shù)學(xué)的理論和方法，將在現(xiàn)場獲得的調(diào)試經(jīng)驗(yàn)和技術(shù)知識總結(jié)成為IF（條件）、THEN（結(jié)果）形式的模糊推理規(guī)則，并把這些模糊規(guī)則及相關(guān)信息（如初始的PID參數(shù)）存入計(jì)算機(jī)。根據(jù)檢測回路的響應(yīng)情況，計(jì)算出采樣時(shí)刻的偏差E和變化率Ec，運(yùn)用模糊推理，進(jìn)行模糊運(yùn)算，即可得到該時(shí)刻的kP，kI，kD，實(shí)現(xiàn)對PID參數(shù)的調(diào)整。
Fuzzy-PID就是根據(jù)現(xiàn)場調(diào)試得到在PID參數(shù)預(yù)整定值k′P，k′I，k′D，再利用模糊規(guī)則實(shí)時(shí)在線整定PID控制器的三個(gè)修正參數(shù)△kP，△kI和△kD，實(shí)現(xiàn)對壓力的優(yōu)化控制。模糊控制器的輸入、輸出變量都是精確量，模糊推理是針對模糊量進(jìn)行的，因此控制器首先要對輸入量進(jìn)行模糊化處理。在所設(shè)計(jì)的Fuzzy-PID控制器中，輸入、輸出變量的語言值均分為7個(gè)語言值：{NB，NM，NS，0，PS，PM，PB}，他們分別代表負(fù)大、負(fù)中、負(fù)小、零、正小、正中和正大。隸屬度函數(shù)采用靈敏性強(qiáng)的三角函數(shù)，如圖3所示。
偏差E的基本論域?yàn)椋?5 kPa，+5 kPa］，偏差變化率Ec的基本論域?yàn)椋?0.5，+0.5］，△kP的基本論域?yàn)椋?1，1］；△kI的基本論域?yàn)椋?0.002，0.002］；△kD的基本論域?yàn)椋?1，1］。以上各變量的模糊量分別為E，Ec，△kP，△kI和△kD，其論域均為［-6，-5，-4，-3，-2，-1，0，1，2，3，4，5，6］。輸入量E，Ec的量化因子為：ke=1.2，kec=12。
6GT2002-0DC00 6ES7 221-1BH22-0XA8 EM221 16入 24VDC，開關(guān)量
6ES7 221-1BF22-0XA8 EM221 8入 24VDC，開關(guān)量
6ES7 221-1EF22-0XA0 EM221 8入 120/230VAC，開關(guān)量
6ES7 222-1BF22-0XA8 EM222 8出 24VDC，開關(guān)量
6ES7 222-1EF22-0XA0 EM222 8出 120V/230VAC，0.5A 開關(guān)量
6ES7 222-1HF22-0XA8 EM222 8出 繼電器
6ES7 222-1BD22-0XA0 EM222 4出 24VDC 固態(tài)－MOSFET
6ES7 222-1HD22-0XA0 EM222 4出 繼電器 干觸點(diǎn)
6ES7 223-1BF22-0XA8 EM223 4入/4出 24VDC，開關(guān)量
6ES7 223-1HF22-0XA8 EM223 4入 24VDC/4出 繼電器
6ES7 223-1BH22-0XA8 EM223 8入/8出 24VDC，開關(guān)量
6ES7 223-1PH22-0XA8 EM223 8入 24VDC/8出 繼電器
6ES7 223-1BL22-0XA8 EM223 16入/16出 24VDC，開關(guān)量
6ES7 223-1PL22-0XA8 EM223 16入 24VDC/16出 繼電器
6ES7 223-1BM22-0XA8 EM223 32入/32出 24VDC，開關(guān)量
6ES7 223-1PM22-0XA8 EM223 32入 24VDC/32出 繼電器
6ES7 231-0HC22-0XA8 EM231 4入*12位精度，模擬量
6ES7 231-7PB22-0XA8 EM231 2入*熱電阻，模擬量
6ES7 231-7PD22-0XA8 EM231 4入*熱電偶，模擬量
6ES7 232-0HB22-0XA8 EM232 2出*12位精度，模擬量
6ES7 235-0KD22-0XA8 EM235 4入/1出*12位精度，模擬量
6ES7 277-0AA22-0XA0 EM277 PROFIBUS-DP接口模塊
6GK7 243-2AX01-0XA0 CP243-2 AS-i接口模塊
6ES7 253-1AA22-0XA0 EM253 位控模塊
6ES7 241-1AA22-0XA0 EM241 調(diào)制解調(diào)器模塊
6GK7 243-1EX00-0XE0 CP243-1 工業(yè)以太網(wǎng)模塊
6GK7 243-1GX00-0XE0 CP243-1IT 工業(yè)以太網(wǎng)模塊
附件
6ES7 291-8GF23-0XA0 MC291,新CPU22x存儲器盒,64K
6ES7 297-1AA23-0XA0 CC292,CPU22x時(shí)鐘/日期電池盒
6ES7 291-8BA20-0XA0 BC293,CPU22x電池盒
6ES7 290-6AA20-0XA0 擴(kuò)展電纜,I/O擴(kuò)展,0.8米,CPU22x/EM
6GT2002-0DC00 P/N
Woodward 126443
Woodward 376104
Woodward 5441689
Woodward 1326-183
Woodward 1691-143+B842
Woodward 1720-707
Woodward 1720-713
Woodward 1720-719
Woodward 1751-147D
Woodward 1751-6058B
Woodward 1751-673
Woodward 1751-675
Woodward 1785-655
Woodward 1790-789
Woodward 1790-791
Woodward 1790-9026
Woodward 1803-105
Woodward 1843-325
Woodward 1886-313
Woodward 1887-031
Woodward 3005-510
Woodward 3005-517
Woodward 3052-141
Woodward 3081-847
Woodward 31902-02
Woodward 3313-055
Woodward 3462-757
Woodward 3462-757
Woodward 3462-758
Woodward 376-104
Woodward 4199J51
Woodward 5403-535
Woodward 5403-536
Woodward 5403-616
Woodward 5403-824
Woodward 5403-975
Woodward 5403-977
Woodward 5403-978
Woodward 5405-818
Woodward 5405-819
Woodward 5410-995
Woodward 5412-033
Woodward 5415-623
Woodward 5415-625
Woodward 5415-625
Woodward 5415-703
Woodward 5415-737
Woodward 5415-738
Woodward 5415-816
Woodward 5415-851
Woodward 5415-852
Woodward 5415-856
Woodward 5415-858
Woodward 5415-966
Woodward 5416-190
Woodward 5416-337
Woodward 5416-338
Woodward 5416-338
Woodward 5416-339
Woodward 5416-351
Woodward 5416-352
Woodward 5417-032
Woodward 5417-040
Woodward 5417-173
Woodward 5417-175
Woodward 5417-176
Woodward 5417-413
Woodward 5417-417
Woodward 5421-112
Woodward 5421-123
Woodward 5421-178
Woodward 5430-856
Woodward 5430-929
Woodward 5432-039
Woodward 5432-157
Woodward 5434-334
Woodward 5437-027
Woodward 5437-051
Woodward 5437-076
Woodward 5437-077
Woodward 5437-078
Woodward 5437-078
Woodward 5437-079
Woodward 5437-080
Woodward 5437-081
Woodward 5437-092
Woodward 5437-173
Woodward 5437-281
Woodward 5437-282
Woodward 5437-283
Woodward 5437-406
Woodward 5437-417
Woodward 5437-418
Woodward 5437-465
Woodward 5437-484
Woodward 5437-523
Woodward 5437-524
Woodward 5437-672
Woodward 5437-686
Woodward 5437-687
Woodward 5437-843
Woodward 5437-844
Woodward 5437-845
Woodward 5437-860
Woodward 5439-076
Woodward 5439-273
Woodward 5439-555
Woodward 5439-730
Woodward 5439-751
Woodward 5439-754
Woodward 5439-754
Woodward 5439-760
Woodward 5439-764
Woodward 5439-766
Woodward 5439-800
Woodward 5439-861
Woodward 5439-927
Woodward 5439-929
Woodward 5439-966
Woodward 5439-984
Woodward 5439-986
Woodward 5441-407
Woodward 5441-409
Woodward 5441-413
Woodward 5441-419
Woodward 5441-629
Woodward 5441-635
Woodward 5441-637
Woodward 5441-645
Woodward 5441-661
Woodward 5441-663
Woodward 5441-669
Woodward 5441-671
Woodward 5441-673
Woodward 5441-689
Woodward 5441-691
Woodward 5441-693
Woodward 5441-695
Woodward 5441-697
Woodward 5441-889
Woodward 5448-906
Woodward 5448-906
Woodward 5450-106
Woodward 5453-278
Woodward 5453-750
Woodward 5453-754
Woodward 5460-735
Woodward 5460-796
Woodward 5460-836
Woodward 5460-837
Woodward 5460-838
Woodward 5460-839
Woodward 5460-840
Woodward 5460-841
Woodward 5460-842
Woodward 5460-843
Woodward 5460-844
Woodward 5461-002
Woodward 5461-062
Woodward 5461-082
Woodward 5461-083
Woodward 5461-086
Woodward 5461-088
Woodward 5461-117
Woodward 5461-290
Woodward 5461-292
Woodward 5461-331
Woodward 5461-622+B2
Woodward 5461-639
Woodward 5461-640
Woodward 5461-641
Woodward 5461-642
Woodward 5461-643
Woodward 5461-644
Woodward 5461-646
Woodward 5461-647
Woodward 5461-648
Woodward 5461-650
Woodward 5461-651
Woodward 5461-652
Woodward 5461-653
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Woodward 5461-655
Woodward 5461-656
Woodward 5461-659
Woodward 5461-661
Woodward 5461-768
Woodward 5461-769
Woodward 5461-770
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Woodward 5461-775
Woodward 5461-776
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Woodward 5461-778
Woodward 5461-779
Woodward 5461-780
Woodward 5461-781
Woodward 5461-798
Woodward 5461-880
Woodward 5461-892
Woodward 5461-944
Woodward 5461-975
Woodward 5461-975
Woodward 5462-017
Woodward 5462-085
Woodward 5462-117
Woodward 5462-236
Woodward 5462-244
Woodward 5462-268
Woodward 5462-292
Woodward 5462-336
Woodward 5462-338
Woodward 5462-443
Woodward 5462-472
Woodward 5462-482
Woodward 5462-518
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Woodward 5462-528
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Woodward 5462-530
Woodward 5462-531
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Woodward 5462-578
Woodward 5462-581
Woodward 5462-584
Woodward 5462-651
Woodward 5462-718
Woodward 5462-749
Woodward 5462-750
Woodward 5462-753
Woodward 5462-756
Woodward 5462-757
Woodward 5462-758
Woodward 5462-762
Woodward 5462-893
Woodward 5462-896
Woodward 5462-916
Woodward 5462-917
Woodward 5462-944
Woodward 5462-948
Woodward 5462-966
Woodward 5463-033
Woodward 5463-034
Woodward 5463-089
Woodward 5463-120
Woodward 5463-124
Woodward 5463-127
Woodward 5463-140
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Woodward 5463-143
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Woodward 5463-178
Woodward 5463-190
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Woodward 5463-193
Woodward 5463-306
Woodward 5463-306
Woodward 5463-338
Woodward 5463-372
Woodward 5463-373
Woodward 5463-375
Woodward 5463-384
Woodward 5463-388
Woodward 5463-393
Woodward 5463-396
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Woodward 5463-450
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Woodward 5463-482
Woodward 5463-531
Woodward 5463-561
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Woodward 5463-790
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Woodward 5464-541
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Woodward 5464-660
Woodward 5464-661
Woodward 5464-674
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Woodward 5464-716A
Woodward 5464-725
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Woodward 5464-768
Woodward 5464-827
Woodward 5464-828
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Woodward 5464-830
Woodward 5464-833
Woodward 5464-834
Woodward 5464-836
Woodward 5464-843
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Woodward 5466-017
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Woodward 5466-041
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Woodward 5466-063
Woodward 5466-074
Woodward 5466-250
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Woodward 5466-315
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Woodward 5466-332
Woodward 5466-336
Woodward 5466-340
Woodward 5466-348
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Woodward 5466-409
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Woodward 5466-419
Woodward 5466-425
Woodward 5466-458
Woodward 5500-018
Woodward 5500-134
Woodward 5500-159C
Woodward 5500-510
Woodward 5500-559
Woodward 5500-563
Woodward 5501-003
Woodward 5501-340
Woodward 5501-341
Woodward 5501-367
Woodward 5501-376
Woodward 5501-411
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Woodward 5501-432
Woodward 5501-465
Woodward 5501-466
Woodward 5501-469
Woodward 5501-470
Woodward 5501-471
Woodward 5501-510
Woodward 5503-173
Woodward 5503-279
Woodward 5503-282
Woodward 5503-335
Woodward 6945-377
Woodward 8200-015
Woodward 8200-019
Woodward 8200-177
Woodward 8200-203
Woodward 8200-226
Woodward 8200-314
Woodward 8220-805
Woodward 8226-043
Woodward 8230-568
Woodward 8230-805
Woodward 8230-815
Woodward 8230-827
Woodward 8230-840
Woodward 8230-841
Woodward 8230-896
Woodward 8230-898
Woodward 8234-167O
Woodward 8234-213
Woodward 8234-346A
Woodward 8236-026
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Woodward 8236-043
Woodward 8236-144
Woodward 8236-144D
Woodward 8238-002
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Woodward 8238-009
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Woodward 8239-015
Woodward 8239-016
Woodward 8239-939
Woodward 8240-084
Woodward 8250-022
Woodward 8250-226
Woodward 8250-421
Woodward 8250-501
Woodward 8250-570
Woodward 8250-807
Woodward 8250-818
Woodward 8256-021
Woodward 8270-092
Woodward 8270-122
Woodward 8270-201
Woodward 8270-741
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Woodward 8271-472
Woodward 8271-652
Woodward 8271-674
Woodward 8271-872
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Woodward 8272-781A
Woodward 8273-041
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Woodward 8406-121
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Woodward 8516-038
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Woodward 8516-042
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Woodward 8516-068
Woodward 8516-076
Woodward 8570-412
Woodward 8575-241
Woodward 8575-377
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