摘要
在传统的调速系统中,多使用的是PID控制与模糊控制等,有控制精度低,调速时间长等缺点。针对二自由度关节模块电机工作电流大、输出力矩大、定位精度高等要求,结合模糊算法和PID算法开展了二自由度关节模块的调速系统设计,将变论域理念引入了模糊控制的隶属函数中,改进了传统的模糊PID控制。设计了变论域模糊PI控制算法,通过随控制误差及误差变化率而变化的伸缩因子,实现了模糊控制论域可变性,从而在线实时修改PI控制中的参数。仿真结果表明,变论域模糊PI控制器可以在短时间内进入平稳状态,与传统的PID控制技术以及模糊PI技术相比,大幅度地提高了控制的鲁棒性、稳定性,缩短了调节时间。
Point at the drive motor of the two-DOF powerball has the requirements of large working current, large output torque and high positioning accuracy, we designed a speed control system of two-DOF powerball by combining the fuzzy controller and PID controller. Besides, the variable domain was applied in the membership function to improve the traditional fuzzy-PI control. The variable domain fuzzy-PI control has been designed to modify the parameters of PI control on line, and the variable domain has been achieved based on the scale factorswhich vary with control error and control error rate. The simulation results show that variable domain fuzzy-PI control can enter the steady state in a short time, which greatly improves the robustness and stability of the control compared with the traditional PID control and fuzzy-PIcontrol.
作者
王梦莲
徐林森
李开霞
孔啸
WANG Meng-lian1, XU Lin-sen2 , LI Kai-xia2 , KONG Xiao3(1. University of Science and Technology of China, Anhui, Hefei 230026 ; 2. Research Institute of Robotics and Intelligent Equipment, Jiangsu, Changzhou 213164 ; 3. Jiangsu Runmo Equipment of Automobile Testing Company, Jiangsu,Zhenjiang 21214)
出处
《计算机仿真》
北大核心
2018年第5期313-317,430,共6页
Computer Simulation
