西微所--微电机杂志 关键词：电动舵机；伺服控制；BLDCM；变参数PID控制 [gap=674]Key words: electric rudder；servo control；BLDCM；variable parameter PID control
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Variable parameter PID control for the controlled object is designed by the method of segment linearization. Furthermore, T-S model based fuzzy PID control strategy is put forward.
通过分析被控对象的特性，采用分段线性化的方法设计变参数PID控制器，进而给出基于T-S模型的模糊PID控制策略；
Its effect of control is superior to that of conventional PID model control, when the model parameter of controled system is variable.
在模型参数有变化时，其控制效果优于传统的PID控制。
Firstly, it is the variable parameter PID which is able to adjust PID parameters online to improve the control performance through non-linear function according to the bias;
第一种，引入非线性函数根据偏差大小在线调节PID参数来提高控制性能的变参数PID；
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