摘要
研究了一类基于模糊规则的变参数PD控制方法。对于模型未知对象,常规PD控制器参数的整定一般要基于一些经验知识,这对PD参数的整定带来一定的困难。该文采用TS模糊控制,将模糊控制和PD控制相结合组成一种复合控制器。这种控制方法兼备模糊控制和PD控制的优点,具有广泛的应用价值。二自由度机器人仿真和实验表明了该控制方案的可行性。
This article presents a new type parameters-varying PD controller based on fuzzy rules. For and unknown controlled object, the tuning of PD parameters is often based on experience. Based on the TS model, a type of fuzzy PD controller is used. The TS-PD controller takes the advantages of both fuzzy controller and PD controller, whose potential application is great. The 2-DOF robotic simulation and experience demonstrate that the control sxheme is effective.
出处
《工业仪表与自动化装置》
2007年第2期40-42,共3页
Industrial Instrumentation & Automation
基金
河北省自然科学基金资助项目(F2006000260)
