摘要
针对伺服电机作为驱动装置的并联机器人,借鉴生物免疫系统中的免疫反馈原理,结合模糊控制器可以逼近非线性函数的特点,提出了将模糊免疫PID控制算法应用到并联机器人控制系统中。仿真结果表明该方法具有超调量小,调整时间短,抗干扰能力和鲁棒性强等优点,控制效果优于常规的PID控制方法。
A fuzzy immune PID control method is presented in order to apply in the control of servo AC motor, which is the drive device of the parallel robot.This method is based on the immune feedback principle in the biological immune system and the approaching ability for nonlinear function of fuzzy controller.This method has low overshoot short regulate time,strong anti-disturbance ability and great robustness.This method has well control performance compared with conventional PID control.
出处
《微计算机信息》
2009年第35期191-192,188,共3页
Control & Automation
基金
国家863高技术研究发展计划(2007AA04Z213)
镇江市工业攻关项目(GY2007006)
