Simulation research on trajectory tracking control of precision mechanical servo system based on improved PID algorithm

Abstract

Aiming at the defects of traditional PID control (slow dynamic response, weak anti-disturbance ability) and traditional fuzzy PID control (fixed quantization factors failing to balance dynamic and steady-state performance) in precision mechanical servo positioning systems, this paper proposes an improved fuzzy PID control algorithm based on adaptive quantization factors. Taking the surface-mounted permanent magnet synchronous motor (SPMSM) as the control object, a position-velocity-current three-loop cascade simulation model is established in Matlab. Comparative simulations are carried out among the proposed algorithm, traditional PID and original fuzzy PID under ideal working conditions, full-load disturbance and complex trajectory scenarios. The results show that under ideal conditions, the improved algorithm shortens the rise time to 0.0480s and reduces the overshoot to 0.02052%, which are 74.5% and 62.4% lower than those of traditional PID respectively. Under full-load mutation, it reduces position fluctuation by more than 90% compared with traditional PID. In complex trajectory tracking, its RMSE is reduced by over 75% compared with traditional PID and over 40% compared with original fuzzy PID. The algorithm features simple structure and easy engineering implementation, effectively solving the core defects of traditional control methods and providing a reliable technical reference for high-precision trajectory tracking control of precision mechanical servo systems.