基于模糊控制器的按摩机器人的力度控制  

The dynamics control of massage robot based on the fuzzy controller

作　　者：王洪玲[1] 刘存根[1] 

机构地区：[1]山东建筑大学山东省智能建筑技术重点实验室,山东济南250101

出　　处：《山东建筑大学学报》2010年第6期586-590,共5页Journal of Shandong Jianzhu University

基　　金：国家"863"计划项目(2008AA040206);山东省科技攻关项目(2009GG10001011)

摘　　要：将模糊控制策略应用到按摩机器人的力度控制,设计了由力度误差和力度误差变化率为输入、按摩机器人电机输出功率为控制系统输出的双输入单输出模糊逻辑控制器,而按摩机器人电机输出功率由电机输出电压控制。通过仿真对比不同控制器所产生的按摩机器人的按摩力度变化曲线表明:当按摩机器人系统受到外界干扰时,模糊逻辑控制器在处理外界干扰的快速性和灵敏性上明显优于PID控制器和原始(PD)控制器,采用模糊控制方法对按摩机器人的驱动电机输出参数电压进行控制,实现了预期的工作性能。The fuzzy control strategy is applied to the dynamics control of the massage robot,and the double-input and single-output fuzzy logic controller is designed with the dynamics error and the error rate of change as input and the electrical motor output power of massage robot as output,and the output power of the massage robot is controlled by the output voltage of the electrical motor.Through the simulation contrast between the massage robot＇s dynamics variation curves produced by different controllers,the results show that the fuzzy logic controller is better than PID controller and original（PD） controller in rapidity and sensibility in dealing with outside interference.The application of the fuzzy control method to control output parameter voltage of the massage robot＇s drive motor has accomplished the expected performance.

关 键 词：按摩机器人 模糊控制规则 模糊逻辑仿真 模糊推理算法 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]