| 挖掘机器人电液比例位置自调整模糊PID 控制技术研究 |
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| 引用本文： | 骆云志,张春华,王钤. 挖掘机器人电液比例位置自调整模糊PID 控制技术研究[J]. 兵工自动化, 2014, 33(10): 72-75 |
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| 作者姓名： | 骆云志 张春华 王钤 |
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| 作者单位： | 中国兵器工业第五八研究所军品部,四川 绵阳,621000;中国兵器工业第五八研究所军品部,四川 绵阳,621000;中国兵器工业第五八研究所军品部,四川 绵阳,621000 |
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| 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。
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| 关 键 词： | 挖掘机器人 电液比例位置控制 模糊PID |
| 收稿时间： | 2014-10-20 |
Research on Self-Tuning Fuzzy PID Control for Electro-Hydraulic Proportion Positional Control System of Robotic Excavator |
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| Luo Yunzhi,Zhang Chunhua,Wang Qian. Research on Self-Tuning Fuzzy PID Control for Electro-Hydraulic Proportion Positional Control System of Robotic Excavator[J]. Ordnance Industry Automation, 2014, 33(10): 72-75 |
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| Authors: | Luo Yunzhi Zhang Chunhua Wang Qian |
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| Affiliation: | (Department of Military Products, No. 58 Research Institute of China Ordnance Industry, Mianyang 621000, China) |
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| Abstract: | 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. |
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| Keywords: | robotic excavator electro-hydraulic proportional positional control fuzzy PID |
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