摘要：简单的固定参数PID控制器，无法与超声波电机的非线性与时变特性相匹配，因而控制性能不佳。设计了一种超声波电机转速专家PID控制器，使用三条专家规则对PID控制参数进行在线调整，以适应于超声波电机的运行特征，改善并保持控制性能。给出一种不依赖于经验的、规范化的专家PID控制器设计方法，通过函数拟合与实验整定来设计专家规则的结论部分。实验表明，随着控制参数值的调整，电机转速控制性能逐渐趋近控制要求，控制性能良好，设计方法有效。
关键词：超声波电机；PID控制；专家PID控制；转速控制
Abstract: The simple fixed parameter PID controller cannot match the nonlinear and time varying characteristics of the ultrasonic motor, so the control performance was not good. An ultrasonic motor speed expert PID controller is designed, which used three expert rules to adjust the PID control parameters online to adapt to the operating characteristics of the ultrasonic motor and improve and maintain the control performance. An independent on experience, standardized expert PID controller design method was presented. The conclusions of the expert rules were designed by function fitting and experimental tuning. Experiments show that with the adjustment of the control parameter value, the motor speed control performance gradually approaches the control requirements, the control performance is good, and the design method is effective.
Key words: ultrasonic motor(USM)；PID control；PID expert control；speed control