中文摘要：

伺服电机驱动连铸结晶器按期望规律振动是一种新型的驱动方式. 本文针对常规PID控制对伺服电机驱动的连铸结晶器振动位移非线性系统难以实现理想控制效果的问题,设计了一种连铸结晶器振动系统的模糊自整定PID控制器. 仿真结果表明,与常规PID控制相比,采用模糊自整定PID控制器能够实现连铸结晶器振动位移系统对期望波形的精确跟踪,且系统对外部负载转矩扰动、减速比不确定性和偏心轴机械零位初始偏差具有较强的鲁棒性.

英文摘要：

Servo motor driver is a new kind of driving way which can realize continuous casting mold oscillating according to the ex-pected rule.In this paper, aiming at the problem that the regular PID control method cannot achieve ideal control effect for the non-linear oscillation position system of continuous casting mold driven by servo motor, a fuzzy self-turning PID controller for the oscil-late system of continuous casting mold is designed.The simulation result and the comparison with the regular PID controller shows that the oscillation system of the continuous casting mold can follow the given law of waveform more accurately by using fuzzy self-turning PID control, besides, the controller has a better robustness against the load torque disturbances, the ratio uncertainties and the initial deviation of the eccentric shaft mechanical zero.