混合输入机构实现给定轨迹的模糊控制  

Hybrid Machine for Implementing Given Trajectory by Fuzzy Controller

作　　者：李仁军[1] 刘宏昭[1] 李鹏飞[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《农业机械学报》2009年第3期199-202,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50575180);西安理工大学优秀博士基金资助项目(207-210001)

摘　　要：混合输入机构运转过程中,由于惯性力等因素的存在,恒速电动机会产生一定的速度波动,影响了输出运动轨迹的精度。针对混合输入机构中恒速电动机不可控的特点,提出了伺服电动机实时跟踪恒速电动机转速的控制策略。构建了混合输入机构控制平台,设计了伺服电动机对恒速电动机转速实时跟踪的模糊控制器,对恒速电动机的速度波动进行补偿,以保证精确实现给定轨迹。实验结果表明模糊控制器具有较高控制精度和稳定性。Because of inertia and changing load,the angular velocity fluctuation of constant speed motor（CSM） was generated in hybrid mechanism,and the precision of output trajectory was reduced.The control strategy which applies servo motor tracking velocity of CSM was put forward,for CSM was uncontrollable.The control platform of hybrid machine was presented.The fuzzy controller was designed by means of the control scheme,and the velocity fluctuation was compensated for accurate implementation given trajectory.The result of experiment indicates that the fuzzy controller was feasible and effective.

关 键 词：混合输入机构 模糊控制器 速度波动 轨迹生成 

分 类 号：TH112[机械工程—机械设计及理论] TP273[自动化与计算机技术—检测技术与自动化装置]