摘要
针对CIP-I智能人工腿步速控制系统存在着反向间隙、死区、摩擦、饱和等非线性因素,提出一种模糊滑模控制(FSMC)。该控制器是基于滑动曲面和模糊带的半宽度之间的关系,调整由模糊逻辑推理得到的控制量Uk,从而实现对执行电机的控制。它不仅具有滑模控制和模糊控制的优点,而且弥补了滑模控制的不足。仿真实验证实FSMC控制稳定,响应速度快,能有效地控制CIP-I智能人工腿,具有良好的动态性能。
To the nonlinear factors such as reverse gap, dead zone and friction which the walking speed control system of CIP-I leg has, Fuzzy Sliding Mode Control（FSMC） is proposes ,based on the relationship of the sliding surface and fuzzy with the half-width, adjust the control for the fuzzy logic reasoning to implement the control of motor. It has not only the advantages of sliding control and fuzzy control, but also make sup for sliding control deficiencies. It is verified that FSMC has stable control performance, fast and steady response performance.
出处
《科学技术与工程》
2008年第15期4361-4365,共5页
Science Technology and Engineering
