压电陶瓷驱动三平移并联机构的模糊控制

Fuzzy control of three-translational parallel mechanism driven by piezoelectric actuators

由于压电陶瓷在精密定位控制中存在迟滞、蠕变和非线性的问题,因此利用简单模糊控制和传统PID控制精度不高.提出利用模糊PID控制器实现对压电陶瓷驱动三平移并联机构进行控制的方法,设计了模糊PID控制器,并对该控制方案进行了仿真.仿真结果表明:该方法调节精度较高,动态响应快,无超调,有一定的可行性.

Because of the existence of hysteresis,creep and non-linear problems of the piezoelectric actuators in precise positioning control,simple fuzzy control and traditional PID control can not get high control accuracy.A new method for controlling three-translational parallel mechanism driven by piezoelectric actuators is put forward,which is based on fuzzy PID controller.The fuzzy PID controller is designed and the controlling plan is simulated.Simulation result shows that this method not only has high regulation accuracy,but also has fast response speed without overshoot,which has certain feasibility.