摘要
介绍了新型气动柔性球关节,讨论了其控制方法。综合模糊控制和 PID控制的特点,设计了针对气动柔性球关节的模糊 PID控制器,实现对球关节弯曲角度、偏转方向等系统参数的动态控制。实验结果表明,模糊 PID 控制可以实时准确地对气动柔性球关节进行控制,设计的控制系统可以作为气动柔性球关节的有效控制系统,用于进行相关研究。
The flexible pneumatic spherical joint was introduced. Adopting advantages of Fuzzy control and PID control, a Fuzzy-PID controller was designed to control the flexible pneumatic spherical joints, which control the dynamic parameters including bending angles and deflexion direction. Experimental results show that the Fuzzy-PID controller can control the flexible pneumatic spherical joints exactly in real-time. So the designed control system can be used as efficient control system for the flexible pneumatic spherical joints and related researches.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第5期407-409,431,共4页
China Mechanical Engineering
关键词
气动柔性球关节
模糊PID控制
多指灵巧手
气动人工肌肉
flexible pneumatic spherical joint
fuzzy-PID control
flexible multi-fingered hand
pneumatic artificial muscle
