| 基于新型PD模糊控制方法的机器人轨迹跟踪 |
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| 引用本文： | 李二超,李炜,王洪瑞.基于新型PD模糊控制方法的机器人轨迹跟踪[J].工业仪表与自动化装置,2007(2):40-42. |
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| 作者姓名： | 李二超 李炜 王洪瑞 |
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| 作者单位： | 1. 兰州理工大学,电气与信息工程学院,甘肃,兰州,730050
2. 燕山大学,电气工程学院,河北,秦皇岛,066004 |
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| 摘 要： | 研究了一类基于模糊规则的变参数PD控制方法.对于模型未知对象,常规PD控制器参数的整定一般要基于一些经验知识,这对PD参数的整定带来一定的困难.该文采用TS模糊控制,将模糊控制和PD控制相结合组成一种复合控制器.这种控制方法兼备模糊控制和PD控制的优点,具有广泛的应用价值.二自由度机器人仿真和实验表明了该控制方案的可行性.
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| 关 键 词： | 模糊控制 PD控制 TS模型 |
| 文章编号： | 1000-0682（2007）02-0040-03 |
| 收稿时间： | 2006-08-29 |
| 修稿时间： | 08 29 2006 12:00AM |
A new type of PD fuzzy control applicable to robot's path tracking |
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| LI Er-chao,LI Wei,WANG Hong-rui.A new type of PD fuzzy control applicable to robot''''s path tracking[J].Industrial Instrumentation & Automation,2007(2):40-42. |
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| Authors: | LI Er-chao LI Wei WANG Hong-rui |
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| Abstract: | This article presents a new type parameters-varying PD controller based on fuzzy rules. For and unknown controlled object, the tuning of PD parameters is often based on experience. Based on the TS model, a type of fuzzy PD controller is used. The TS-PD controller takes the advantages of both fuzzy controller and PD controller, whose potential application is great. The 2-DOF robotic simulation and experience demonstrate that the control sxheme is effective. |
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| Keywords: | fuzzy control PD control TS mode |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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