摘要
针对挖掘机器人工作装置液压系统存在滞后、不确定性和非线性,不能实现有效精确控制的问题,设计一种基于模糊PID的电液比例位置自调整控制策略。介绍了电液比例位置控制系统组成和自调整模糊PID控制器原理,建立了控制规则表,采用中点向下融合法进行模糊推理和去模糊化处理。仿真与实验验证结果表明:该控制方法具有很好的鲁棒性,控制效果满足技术要求。
A method of electro-hydraulic proportional position control based on fuzzy PID self-tuning control strategy isdesigned, in the light of the problem of servo control precision because of the hysteresis, uncertainty and nonlinearity ofwork devices and hydraulic system of the robotic excavator. Introduce the structure of electro-hydraulic proportionalpositional control system and the principle of fuzzy self-tuning PID controller parameters, forms the fuzzy PID control ruletable. It also introduces a method of midpoint down fusion fuzzy inference and defuzzification techniques. Simulating andexperimental results indicate the method has good robustness and meets technology requirements.
出处
《兵工自动化》
2014年第10期72-76,共5页
Ordnance Industry Automation
关键词
挖掘机器人
电液比例位置控制
模糊PID
robotic excavator
electro-hydraulic proportional positional control
fuzzy PID
