摘要
针对柔性机械臂的振动抑制问题,将模糊逻辑控制与增量式PID算法结合,通过模糊控制算法对增量式PID的主要参数进行在线最佳整定,从而得到增量式模糊自整定PID控制算法。通过对无反馈控制、增量式PID控制、增量式模糊自整定PID控制的分析及仿真,说明此控制方法可以使机械臂末端振幅衰减80%以上。改变机械臂的末端集中质量的结果表明:当机械臂抓取不同质量重物时,增量式模糊自整定PID控制算法仍然能够达到良好的控制效果。
The Incremental Fuzzy Self-tuning PID Control（ IFSPC） is proposed for active vibration control of flexible piezoelectric manipulator. The control system combines fuzzy logic control and incremental PID algorithm, and the main parameters of incremental PID are tuned by fuzzy logic algorithm. The vibration amplitude can be suppressed by IFSPC with a decrement of 80%. And its advanced performance of vibration suppression and stability can be proved by comparison with no-feedback control and the incremental PID control. Its adaptability can be verified by changing the concentrated mass at the end of the arm. The simulation results show that the proposed IFSPC can be used for real-time vibration control in flexible manipulator effectively.
出处
《机械科学与技术》
CSCD
北大核心
2014年第5期625-629,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
西北工业大学基础研究基金项目(JC20110256)
国家自然科学基金项目(NSFC11172234)资助
关键词
反馈控制
振动
模糊控制
自适应系统
adaptive systems
algorithms
computer simulation
feedback control
flowcharting
fuzzy control
fuzzy logic
manipulators
MATLAB
matrix algebra
schematic diagrams
stability
vibration control
vibrations（mechanical）
