摘要
针对推力波动、负载变化等非线性因素对高速高精度平面并联机器人系统稳定时间的影响 ,本文设计了一种新颖的模糊自调整PID控制器 :系统的位置偏差较大时 ,采用PI控制器 ,保证系统的平滑、稳定 ;当系统发出停止命令后 ,引入模糊增益参数自调整机构 ,加快静差消除 .模糊增益参数调整机构采用“一维输入 -二维输出”的推理结构 ,消除了参数调整中的“耦合影响” ;为缩短整定时间 ,减少整定参数的数量 ,不同增益 ,误差E的模糊论域划分各不相同 .经实验验证 :引入该模糊自校正PID控制器后 。
In order to reduce influence of nonlinear factors (force ripple, load disturbance and so on) on steady time of a planar High Speed/High Precision Parallel Robot, we design a novel fuzzy self tuning PID controller. When the position error is large, the controller adopts linear PI to ensure the system's smoothness and stability; when the stop command is executed, fuzzy self tuning mechanism is applied to eliminate static error quickly. Fuzzy self tuning mechanism adopts a 'one dimension input two dimension output' reasoning structure to avoid coupling influence in the course of gains self tuning; different gains have different fuzzy fields of error E to save tuning time and reduce the number of rules. Experiments demonstrate that Robot's steady time has been shortened significantly after the novel fuzzy self tuning PID controller is applied to the system.
出处
《机器人》
EI
CSCD
北大核心
2003年第6期512-515,520,共5页
Robot
基金
"8 63"计划资助 (2 0 0 1AA42 31 1 0 )
