Biomedical Engineering Reference
In-Depth Information
~ ~
~ ~
e p , e v are negative
e p , e v are positive
1
0.5
~ ~
-R
0
R
e p , e v
(a)
Output
zero
Output negative
Output positive
1
- R
0
R
Output signal Δ u PI ( nT )
(b)
Figure D.1
(a). Input. membership. function. and. (b). output. membership. function. for. the. PI. component..
(From. Tang,. K.. S.,. Man,. K.. F.,. Chen,. G.,. Kwong,. S.,. An. optimal. fuzzy. PID. controller,. IEEE
TransactionsonIndustrialElectronics ,.48(4),.757-765,.2001.)
formula,. it. can. be. derived. that. the. incremental. control. output. u
PI (
nT
)
. is.
governed.by
R K e nT K e nT
R K e nT
R K e nT K e nT
R K e nT
[
(
)
+
(
)]
i p
p v
in
,
,
,
1
2
5
6
2(2
| (
)|)
i
p
[
(
)
+
(
)]
i p
p v
in
,
,
,
3
4
7
8
2(2
| (
)|)
p
v
1
2 [
K e nT
(
)
+
R
]
in
,
p v
9
10
1
2 [
K e nT
(
)
+
R
]
in
,
(
)
u
nT
=
i p
11
12
PI
1
2 [
.
(D.2)
K e nT
(
)
R
]
in
,
p v
13
14
1
2 [
K e nT
(
)
R
]
in
,
i p
15
16
0
in
,
18
20
R
R
in
in
17
19
.
 
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