| Fuzzy-PID在柔索并联驱动转台控制系统中的应用 |
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| 引用本文： | 陈新增 施光林. Fuzzy-PID在柔索并联驱动转台控制系统中的应用[J]. 微计算机信息, 2007, 23(1S): 13-14,60 |
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| 作者姓名： | 陈新增 施光林 |
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| 作者单位： | 上海交通大学机电控制研究所,上海市200030 |
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| 摘 要： | 本文提出了一种带有约束机构的并联柔索驱动转台,介绍该转台的机构构型,设计了一种利用模糊逻辑进行在线参数自适应的Fuzzy-PID控制器.该控制器能够对PID的参数进行在线自动调整,仿真结果表明,采用参数自适应模糊PID控制器后,控制系统的响应速度加快,超调量减小,过渡过程时间大大缩短,振荡次数少,具有较强的鲁棒性和良好的稳定性.
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| 关 键 词： | 柔索驱动 Fuzzy-PID 约束机构 转台 |
| 文章编号： | 1008-0570（2007）01-1-0013-02 |
| 修稿时间： | 2006-08-262006-09-27 |
Application of Fuzzy-PID on Cable-Driven Parallel Platform |
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| CHEN XINZENG SHI GUANGLIN. Application of Fuzzy-PID on Cable-Driven Parallel Platform[J]. Control & Automation, 2007, 23(1S): 13-14,60 |
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| Authors: | CHEN XINZENG SHI GUANGLIN |
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| Affiliation: | shanghai jiaotong university, mechatronics institute,shanghai 200030 |
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| Abstract: | A new type of wire-driven parallel platform with restraint mechanism driven by three wires is proposed.A parameter selfadaptive Fuzzy-PID controller is designed by use of fuzzy logical rules.The controller can make online self-regulation of PID parameters. Proper parameters are selected effectively.Simulation result and field application show that after the parameter self-adaptive Fuzzy-PID controller being used,response speed of control system is quicken.Over regulation measurement greatly is reduced,transitional time is shorten ,fluctuation times is decreased and control system possess rather strong robustness and good stability. |
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| Keywords: | Wire driven Puzzy-PID restraint mechanism platform |
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