| 不确定性操作臂的混合模糊P+ID控制的实验研究 |
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| 引用本文： | 常晓光,李 伟,弗里德希·华尔. 不确定性操作臂的混合模糊P+ID控制的实验研究[J]. 控制理论与应用, 2000, 17(1): 73-78 |
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| 作者姓名： | 常晓光 李 伟 弗里德希·华尔 |
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| 作者单位： | 1. 清华大学计算机系·北京,100084
2. 德国布伦维克技术大学机器人与过程控制研究所·德国 |
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| 基金项目： | 清华大学学术新人奖，德国洪堡基金 |
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| 摘 要： | 提出了一种机械臂的混合模糊控制策略，它由一企增量模糊逻辑控制器和传统的积分－微分管制器构成，简称ＰｕｚｚｙＰ＋ＩＤ控制器，与传统的ＰＩＤ控制器相比，设计ＦｕｚｚｙＰ＋ＩＤ控制器时，只需多调节一个附加参数，我们应用ＦｕｚｚｙＰ＋ＩＤ控制器控制几何参数变化的两连杆机构臂ＥＤＤＡ，ＥＤＤＡ的阶跃和跟踪控制的实验结果表明：ＦｕｚｚｙＰ＋ＩＤ控制器更有效和更鲁棒。
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| 关 键 词： | 机械臂 不确定性 P＋ID控制 模糊控制 |
| 收稿时间： | 1998-05-18 |
| 修稿时间： | 1999-06-07 |
Experiment Study of a Mechanical Manipulator under uncertainty by Hybrid Fuzzy P+ID Controllers |
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| CHANG Xiao-guang,LI Wei and F. M. Wahl. Experiment Study of a Mechanical Manipulator under uncertainty by Hybrid Fuzzy P+ID Controllers[J]. Control Theory & Applications, 2000, 17(1): 73-78 |
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| Authors: | CHANG Xiao-guang LI Wei F. M. Wahl |
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| Affiliation: | Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, P.R.China;Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, P.R.China;Institute für Robotics and Process Control, Technical University of Braunschweig,Germany |
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| Abstract: | This paper presents a hybrid control scheme for the mechanical manipulator, which consists of a fuzzy logic proportional controller and a conventional integral and derivative one (Fuzzy P ID). In comparison with the PID controller, only one additional parameter should be adjusted to tune the Fuzzy P ID controller. The proposed control scheme is implemented to control a two link manipulator EDDA under geometrical parameters' changes. The experimental results on both of tracking and step control demonstrate the effectiveness and the robustness of the Fuzzy P ID controller. |
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| Keywords: | manipulators the incremental fuzzy logic controller uncertainty fuzzy P ID controller |
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