双连杆柔性机械臂的模糊PID参数自调整控制  

Fuzzy Self-tuning PID Control of Two-link Flexible Arm

作　　者：庞文尧[1] 丁金婷[1] 黄戟[2] 

机构地区：[1]浙江大学城市学院电气系,杭州310015 [2]浙江商业职业技术学院,杭州310053

出　　处：《科技通报》2007年第4期549-552,共4页Bulletin of Science and Technology

基　　金：浙江省重大自然科学基金(ZD0107)

摘　　要：对双连杆柔性机械臂动力学非线性控制问题进行了分析。针对研究对象强非线性和强耦合性的特点,提出了一种具有自适应特点的PID参数模糊自调整控制方案。仿真研究表明,采用该控制方案的柔性臂系统能有效抑制弹性振动,并具有较高的跟踪精度和较强的实时性、鲁棒性。The nonlinear dynamic control strategy of two-link flexible arm is analyzed. Because the flexible arm is a non- linear and strong coupling dynamic system, the method of fuzzy self-tuning PID controller is proposed. The simulation results show that the proposed control scheme not only has a good result of vibration reducing but also can lead to very high tracking precision, real time performance and robustness.

关 键 词：柔性臂 模糊控制 PID控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]