图书馆机器人机械手参数自整定模糊PID控制器设计

Design of a parameter self-tuning fuzzy-PID controller of a library robot manipulator

采用PC/104系列板卡设计了一款嵌入式图书馆机器人气动机械手控制器,对机械手的参数自整定模糊PID控制算法进行了重点探讨,根据模糊子集的隶属度赋值表和模糊逻辑规则,查模糊矩阵表得出修正参数,完成对PID参数的在线自校正.用Microsoft eMbedded Visual C++(EVC)编程实现了图书取放气动机械手的智能控制,给出了控制软件算法流程及关键部分实现方法.用阶跃、正弦等典型输入信号做系统仿真,实验结果表明气动机械手能够快速、稳定、几乎无误差地跟踪系统给定值.所提出的系统设计方法对类似领域具有普遍适用性.

An embedded controller for the pneumatic manipulator of a library robot was designed using the PC/104 boards system. The parameters of a self-tuning fuzzy-PID controller algorithm were the emphasis of the design. According to the valuation table of membership and the fuzzy logic rules of the fuzzy subsets, the modified parameters were drawn by searching the fuzzy matrix table ; thus the parameters＇ online self-tuning of the fuzzy-PID algorithm was finished. The intelligent control of the pneumatic manipulator of a library robot was realized by programming using Microsoft eMbedded Visual C ＋＋ （EVC）. The algorithm flow diagram of the control software and the key method were given. The simulation was finished by inputting some typical signals such as the phase step and sine signal. The experimental result shows that the pneumatic manipulator of a library robot can quickly trace the target value and keep a satisfactory stability with nearly no errors. The designed method put forward in this paper has a generic application relationship to similar fields.