液压柔性臂末端位置的模糊控制研究与仿真

Research and Simulation on Fuzzy Control of Tip's Position of Hydraulic Flexible Arm

以液压起重机向上变幅过程为例,研究了对单节液压柔性臂末端位置的模糊控制方法,利用模糊控制器语言变量控制规则能够使复杂系统解耦的特点,对慢变子系统和快变子系统分别进行了独立的控制,即用模糊PD控制方法对柔性臂转角进行了位移的轨迹跟踪控制、用模糊控制方法对柔性臂的弹性振动进行了控制,通过对转角和弹性振动的控制实现对液压柔性臂末端的位置控制。在adams和simulink联合仿真平台上对单节液压柔性臂末端位置的模糊控制问题进行了仿真研究,结果表明采用的控制方法能够实现对液压柔性臂末端较为精确的位置控制。

Fuzzy method was applied to controlling the tip＇s position of a hydraulic flexible arm by taking a hydraulic crane for an example during its luffing motion. Making use of the function of Linguistic variables in a Fuzzy controller which have the decoupling function, the slow subsystem and the quick subsystem were independently and separately controlled-a fuzzy PD controller was designed to control the trajectory of the joint angle ＇s displacement and a fuzzy controller to eliminate the vibration of the flexible arm, the position control on the tip was so obtained by controlling on the trajectory of the angle＇s displacement and by controlling on the vibration of the flexible arm. Simulation of the fuzzy control on the tip of the hydraulic flexible arm was developed on the coordinate flat of Adams and Simulink. The results prove that an accurate position control on the tip of a hydraulic flexible arm is obtained by the method.