在高精度、超低速伺服系統中，由于非線性摩擦環節的存在，使系統的動態及靜態性能受到很大程度的影響，主要表現為低速時出現爬行現象，穩態時有較大的靜差或出現極限環振蕩；由于傳統的PID 控制很難解決伺服系統中的非線性問題，因而不能適用于高精度、超低速伺服系統；本文通過引入模糊自適應整定PID控制，利用模糊規則在線調整比例、積分、微分環節，使系統具有一定的智能，從而非常明顯的改善伺服系統的靜態及動態性能。
關鍵字：模糊控制非線性摩擦自適應PID
Abstract In the system of high precision and low speed, Because of the existence of the nonlinear friction, the static and dynamic performance of the servo system is very bad, such as stick slip, hunting, large error and so on, Because the traditional control of PID is hard to solve the nonlinear problem of the servo system, so this paper begins to introduce a new control method which is named adaptive fuzzy PID, It utilizes the rule of the fuzzy control to adjust the parameter of proportion, integral and differential on line, So this control method has some intelligence to improve the static and dynamic performance of the servo system.
Keyword fuzzy control nonlinear friction adaptive PID