A fuzzy PID controller based on genetic tuning is proposed in this paper,and is applied to the underwater seam tracking system.The underwater seam tracking system is complex nonlinear system and conventional PID is not well,fuzzy PID controller is designed to adjust parameters of the PID controller online,which is base on Mamdani reasoning and takes seam position error and the error variation rate as fuzzy input variables. But initial parameter of PID has a an effect on the control system,and then genetic algorithms is used to tune initial paraneter for fuzzy PID controller,the seam tracking system is simulated in Matlab 7.0 at the same time.Simulation results show that the fuzzy PID controller is with genetic tuning has the advantage of quick response and high precision,compared with the controller without genetic tuning.The performance of system is obviously improved by the control mothed as well.%提出了一种基于遗传算法整定的模糊PID控制器,并将其应用到水下焊缝跟踪系统中.水下焊缝跟踪系统是复杂的非线性系统,传统的PID控制效果不佳,因此设计了模糊PID控制器.该控制器以焊缝位置误差及其变化率作为模糊输入变量,依据Mamdani模糊推理实现PID参数的在线调整.同时,由于PID参数初值对于系统的控制效果影响较大,利用遗传算法来整定模糊PID控制器的初值,并在Matlab6.5仿真软件下进行了仿真实验.结果表明,基于遗传算法初值整定的模糊PID控制器具有响应速度快和精度高等优点,显著提高了系统性能,控制效果好于模糊PID控制.
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