㈰ㄱ†乏⸲?릤?돌?벼?쫵卣楥湣攠慮搠呥捨湯汯杹⁉湮潶慴楯渠䡥牡汤뿆벼뒴탂떼놨믹폚떥욬믺쾵춳뗄쒣뫽뿘훆쯣램벰웤폅뮯ꋙ커뫩뻪(쳬뷲쟡릤횰튵벼쫵톧풺 쳬뷲쫐 300380)햪 튪:쯤좻쒣뫽뿘훆폐뫜뛠폅뗣,떫쫇웤쯣램뮹늻쫇뫜럡뢻,뛸쟒틑폐뗄쯣램튲듳뛠폐웤뻖쿞탔ꆣ퓚놾짨볆훐쪹폃뗄쒣뫽쯣램,퓚믹폚볲떥닩뇭램뗄믹뒡짏,뷡뫏ퟔ탞헽틲ퟓ램뗄폅쫆,퓙펦폃쫽톧닮횵뗄랽램살쪵쿖ꆣ웤쯣램볲떥쏷쇋ꆢ퓋쯣솿킡,췪좫쓜릻싺ퟣ짨볆튪쟳ꆣ맘볼듊:쒣뫽뿘훆쯣램 솿뮯틲ퟓ 닥횵램훐춼럖샠뫅:TP2컄쿗뇪쪶싫:A컄헂뇠뫅:1674-098X(2011)08(c)-0081-011 뒫춳쒣뫽뿘훆웷뗄짨볆쫕솲탔튲뻍쯦횮붵뗍ꎻ죧맻Ku풽킡ꎬ웤킧맻쿠랴ꆣ폅뮯쯣램뗄볆쯣늽훨퓚릹붨뗄쒣뫽뿘훆웷ꎬ뻍쫇뛔볒횪쪶룹뻝틔짏맦퓲ꎬ캪쇋룄짆쾵춳탔쓜ꎬ쪹*내헕벫듳벫킡뫏돉풭샭샫쿟볆쯣돶뫍뺭퇩뷸탐ퟜ뷡ꆢ맩쓉짺돉쒣뫽뿘훆맦퓲ꎬ뗃뿘훆쾵춳볈폐뿬쯙뗄뚯첬쿬펦폖폐솼뫃뿘훆솿뇭ꎬ늢듦뒢퓚떥욬믺훐ꎻ늢뛔쯼쏇뷸탐탎쪽쫽톧뒦샭ꎬ탎돉쒣뫽뿘훆뗄컈첬뺫뛈ꎬ춬쪱뮹쓜ퟔ쫊펦쾵춳맽돌닎* 붫놻뿘뛔쿳뗄쫤돶솿폫룸뗄횵쿠복ꎬ웷뗄맦퓲뿢ꆣ뻝듋붨솢쒣뫽뿘훆맦퓲뇭ꆣ쫽뗄뇤뮯ꎬ뻍탨튪쪹뿘훆웷쓜룹뻝놻뿘쾵뗃돶욫닮e(t)뫍욫닮뇤뮯싊de(t)/dt벴Ec(t)ꎻ룹뻝짏쫶싛쫶볆쯣돶쒣뫽맘쾵R뫳ꎬ샻춳욫닮뻸뛔횵ꡏe(t)ꡏ뗄듳킡ꎬ내헕맦퓲ퟔ좻뫳룹뻝욫닮뻸뛔횵ꡏe(t)ꡏ뗄듳킡ꎬ평쪽폃췆샭뫏돉맦퓲볆쯣뇣뿉쟳뗃쫤돶폯퇔뇤뚯퓚쿟탞룄뫍뗷헻솿뮯틲ퟓꆣ4떽7쟳돶룷솿뮯틲ퟓ뗄듳킡ꎬ퓙룹뻝쪽4떽솿뗄쒣뫽ퟓ벯ꆣ좷뚨쇋틔짏맦퓲뫳뻍뿉틔룹뻝뻟쳥쟩7뛔e(t)뫍Ec(t)뷸탐솿뮯ꎬ쟳뗃E(t)ꆢEc(t)ꎻ쿔뛸틗볻ꎬ맦퓲뇭쫇쳥쿖놾쒣뫽뿘훆뿶퓚ퟱ톭짏쫶맦퓲뗄잰쳡쿂톡퓱룷솿뮯틲* 룹뻝짏튻늽쟳돶뗄E(t)ꆢEc(t)ꎬ좷뚨웤쾵춳쒣뫽뿘훆쯣램뗄ퟮ훕뷡맻ꆣ닩톯뇭쫇ퟓ뗄뇤뮯쟺쿟ꆣ퓚쪵볊펦폃훐ꎬ캪쇋볲뇣웰퓚쒣뫽뿘훆솿뇭훐쯹뛔펦뗄샭싛폲[Ei,컂뛈쒣뫽쾵춳뗄쒣뫽뿘훆쯣램ퟜ뇭ꎬ냑쯼볻ꎬ룷솿뮯틲ퟓ뗄ퟔ탞헽쟺쿟뿉틔닉폃헛Ei+1]뫍[Ecj,Ecj+1],늢듓쒣뫽뿘훆솿뇭훐듦럅떽볆쯣믺뗄듦뒢웷훐ꎬ늢뇠퓬튻룶닩쿟탎쪽ꎬ놾컄쪹폃틔쿂릫쪽ꎺ닩돶뛔펦뗃Ui,jꆢUi+1,j뫍Ui+1,jꆢUi+1,헒닩톯뇭뗄ퟓ돌탲ꆣKe=Ke0+k1ꡏꡏe(t)ꡏ-Em/2ꡏ ꎨ4ꎩj+1ꎬ퓙낲쪽12ꆢ13볆쯣돶Ai+1ꎨEꎩ뫍AJ+1쯤좻쒣뫽뿘훆폐뫜뛠폅뗣ꎬ떫쫇웤쯣Kec=Kec0 떱0<ꡏe(t)ꡏ< Em/2ꎨEcꎩꎬퟮ뫳좫늿듺죫떽쪽9떽13ꎬ뗃떽쒣뫽램뮹늻쫇뫜럡뢻ꎬ뛸쟒틑폐뗄쯣램튲듳뛠ꎨ5ꎩ솿쫤돶U(t)ꎻ폐웤뻖쿞탔ꆣ쯹틔ꎬ퓚놾짨볆훐쪹폃뗄쒣뫽Kec=Ke0-k2ꡏe(t)ꡏ 떱ꡏe(t)>*붫쒣뫽솿쫤돶U(t)돋틔Ku뻍쓜뗃떽쯣램ꎬ퓚믹폚볲떥닩뇭램뗄믹뒡짏ꎬ뷡뫏ퟔEm/2 ꎨ6ꎩ뿘훆솿뗄쫤돶u(t)탞헽틲ퟓ램뗄폅쫆ꎬ퓙펦폃쫽톧닮횵뗄랽Ku=Ku0-k3ꡏe(t)ꡏ ꎨ7ꎩ램살쪵쿖ꆣ웤쯣램볲떥쏷쇋ꆢ퓋쯣솿킡ꎬ췪틔짏룷쪽훐ꎬKec0ꆢKe0ꆢKu0럖뇰쫇욫3 킡뷡좫쓜릻싺ퟣ짨볆튪쟳ꆣ닮캪0쪱KecꆢKeꆢKu뗄횵ꎻEm쫇쾵춳퓊탭춨맽뛔훇쓜뿘훆쯣램뗄펦폃퇐뺿ꎬ쯣뗄ퟮ듳컳닮ꎻk1ꆢk2ꆢk3퓲쫇3룶뿉룹뻝쾵램뗄폅뮯ꎬ틔벰럂헦쪵퇩뷸튻늽횤쏷쇋횻2 쒣뫽뿘훆쯣램뗄폅뮯춳뗄뻟쳥쟩뿶뛸헻뚨뗄쾵쫽ꆣ쓜뿘훆쯣램짨볆뗄쳘뗣ꎺ솿뮯틲ퟓ뗄ퟔ탞헽풭퓲닥횵램ꎨ1ꎩ쯣램볲떥쪵폃ꎬ놾훊짏늻틀삵폚쾵쪵볊쫤죫닉퇹횵e(t)\de(t)/dt쫇솬탸뇤평폚뷸탐벫듳벫킡뫏돉퓋쯣쪱ꎬ퓚뛔춳뗄쫽ퟖ쒣탍ꎻ뮯뗄뺫좷솿ꎬ튪붫쯼쏇쒣뫽뮯뇤캪쒣뫽솿솬탸뗄뺫좷솿뷸탐쒣뫽뮯맽돌훐탅쾢솿퇏ꎨ2ꎩ뿉돤럖샻폃떥욬믺뗄죭볾풴ꎬ뿉EꆢEc뻍탨튪쿈돋틔튻뚨뗃솼뫃틲ퟓKeꆢ훘쯰쪧ꎬ캪쇋뷸튻늽룄짆쾵춳탔쓜ꎬ탨튪쿫뾿탔룟ꎬ뾪랢쯙뛈뿬ꎻKecꎬ뗃떽E(t)ꆢEc(t),죧쿂쪽1ꆢ2쯹쪾ꎻ좻뫳냬램퓶볓쾵춳탅쾢솿ꎬ캪듋틽죫쫽톧훐뗄ꎨ3ꎩ뿋럾쇋뒫춳PID뿘훆웷닙ퟷ뗄삧퓙뛔E(t)ꆢEc(t)좡헻벴뿉뗃EꆢEcꆣ쿟탔닥횵램ꆣ쓑ꎬ쳡룟쇋쾵춳뗄훇쓜뮯돌뛈ꎻE(t)=Keꇁe(t) ꎨ1ꎩ쿟탔닥횵뗄릫쪽죧쪽8쯹쪾ꎨ4ꎩ쒣뫽PID뿘훆웷냴탔뫃ꎬ뻟폐볒Ec(t)=Kecꇁde(t)/dt ꎨ2ꎩY(X)=Yi+(Yi+1-Yi)Ai+1ꎨXꎩ ꎨ8ꎩ뿘훆웷뗄쳘뗣ꎬ늢뿉췆맣펦폃폚웤쯼릤ퟷ춬퇹ꎬ튪붫쒣뫽쫤돶횵U뮯캪쪵볊뗄뛔폚볆쯣돶뗄뿘훆솿뇭ꎬ짨솽쫤죫뇤쇬폲ꆣ뿘훆솿u(t)쫤돶ꎬ튲탨튪돋틔튻뚨뗄솿뮯틲솿뗄솿뮯횵E(t)ꇊ[Ei,Ei+1],뛸Ec(t)ꇊ룃랽램쓜쪹쾵춳뗄뷡릹볲떥뮯ꎬ닙ퟷퟓKu,죧쿂쪽3쯹쪾ꆣ[Ecj+1],퓲뿘훆솿U(t)뿉룹뻝릫쪽11떼돶쇩믮뮯ꎬ늢뿉퓶잿뿉뾿탔뫍쫊펦탔ꎬ쳡룟뿘u(t)=KuꇁU ꎨ3ꎩ뗄죧쿂닥횵쯣램뛸볆쯣돶살ꎺ훆뺫뛈뫍슳냴탔ꎬ쳘뇰죝틗쪵쿖럇쿟탔뮯틲뛸ꎬ솿뮯틲ퟓ뗄듳킡횱뷓뻶뚨쇋뿘U1(t)=Uij+(Ui+1,j-Uij)Ai+1ꎨEꎩ ꎨ9ꎩ뿘훆ꆣ훆쾵춳뗄탔쓜횸뇪ꎬ웤ퟜ뗄맦퓲죧쿂ꎺU2(t)=Ui,j+1+(Ui+1,j+1-Ui,j+1)*Ke풽듳ꎬ컈첬컳닮뻍풽킡ꎬ쾵춳뗄쿬Ai+1ꎨEꎩꎨ10ꎩ닎뾼컄쿗펦튲뻍풽뿬ꎬ좻뛸뎬뗷솿튲믡쯦횮퓶볓ꎬ짵U(t)=Ui(t)[(U2(t)-U1(t)]Aj+1ꎨEcꎩ[1]Chou,.,Model reference adaptive훁뿉쓜닺짺헱떴ꎻ뛸Ke풽킡ꎬ웤킧맻쿠랴ꎻ ꎨ11ꎩfuzzy control:a linguistic space approach,*Kec풽듳ꎬ쾵춳뿬쯙탔붫붵뗍ꎬ뛸뎬뗷쪽훐ꎺFuzzy Sets and ,1-20,1998.솿퓲믡복킡ꎬ뛔욫닮뇤뮯싊뗄쇩쏴뛈뻍믡Ai+1ꎨEꎩ=[E(t)-Ei]/[Ei+1-Ei](12ꎩ볓듳ꎻ랴횮ꎬ죴Kec풽킡ꎬ웤킧맻쿠랴ꎻAJ+1ꎨEcꎩ=[Ec(t)-Ecj]/[Ecj+1-Ecj]*Ku풽듳ꎬ쾵춳쿬펦풽뿬ꎬ뎬뗷솿튲믡볓듳ꎬ ꎨ13ꎩꋙퟷ헟볲뷩:커뫩뻪(1978-),얮,붲쪦,쳬뷲쟡릤횰튵벼쫵톧풺뷌쪦ꆣ?뿆벼뒴탂떼놨?卣楥湣攠慮搠呥捨湯汯杹⁉湮潶慴楯渠䡥牡汤㠱
