弯曲木加工机器人模糊控制技术

Analysis of Fuzzy Control Technology for Bending Flexural Wood Robot

针对弯曲木弯曲过程中影响加工精度的非线性因素众多 ,精确数学模型难以建立的特点 ,提出弯曲木加工机器人控制的模糊智能控制方法。通过采集弯曲力的变化信号 ,总结弯曲经验 ,制定控制规则 ,改善了系统的动静态特性。仿真结果表明 ,这种控制器具有良好的抗干扰性和鲁棒性 ,可以获得满意的控制结果。

The fuzzy intelligence method to design the control system for planar flexural wood robot was put forward, aiming at the existence of many non-linear elements having influences on the dimensional accuracy of the parts in the processing of bending and the difficulty to set up an accurate mathematic molel. This design method can improve dynamic and static characteristics of system by collecting bending force signal, summarizing experience and designing control rule. The experiment result showed that this kind of control system has good robust and dynamic characteristics, and satisfactory result can be obtained by using it.