设计一种基于FPGA平台的模糊免疫PID控制器的硬件实现方式,该控制器将模糊免疫PID算法的抗干扰性、鲁棒性与硬件实现的实时性有效的结合起来,提高了伺服控制系统的性能.首先对模糊免疫PID算法进行了介绍和数学推导,然后采用离线计算,在线查找表的方法实现模糊免疫控制.基于Verilog语言设计PID控制器,完成时序仿真测试.数据表明控制器设计过程合理,仿真结果正确,改善了传统PID控制器的性能,是小型系统智能控制一种新的有效途径.%A fuzzy-immune-PID controller based on FPGA was designed by combining good anti-interference and robustness by fuzzy-immure-PID controller with the realtime characteristics built by FPGA. It improved the performance of the servo control system. Firstly, principle and algorithm of the fuzzy-immune-PID controller were discussed and its mathematical deduction was carried out. Then with the off-line calculation,look-up table technology was employed to perform the fuzzy immune control. The PID controller based on Verilg carried out the squential simulation. Expenimental results show that the method is reasonable and has a better performance than the traditional one. The proposed method is efficient to implement intelbigent control strategy to small machines.
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