基于FuzzyP+ID的机械臂控制策略研究  

Study of Control Strategy of the Manipulator Base on FuzzyP + ID

作　　者：张攀峰[1] 穆希辉 杜峰坡 郭浩亮[1] 

机构地区：[1]军械工程学院,石家庄05003 [2]总装备部军械技术研究所,石家庄050003

出　　处：《机电一体化》2011年第12期30-34,共5页Mechatronics

基　　金：国家863项目(编号:2001AA422420)

摘　　要：提出了一种针对非线性、时变性比较突出的机械臂液压驱动关节的FuzzyP+ID控制策略。该策略结合模糊控制的思想,在对控制系统的输入输出特性有较深入全面了解的基础上,依据PID控制获得控制经验,形成了模糊控制器的控制规则,解决了传统线性PID控制器难于协调快速性和稳定性之间的矛盾,并设计了FuzzyP+ID的控制器。仿真分析表明,FuzzyP+ID控制较常规PID控制快速性更好,超调更小,稳定性好,并具有较强的鲁棒性。In this paper, the FuzzyP ＋ ID control strategy of the hydraulic drive joint is proposed in view of nonlinear, time-varying feather. Combining with the of fuzzy control theory and the experience of the PID control strategy, the strategy can find the input and output characteristics of the control system comprehensively. The control rules of the forming fuzzy controller can solve the conflict between rapidity and stability of the traditional linear PID controller, and the FuzzyP ＋ ID controller is designed. Simulation analysis showed that, FuzzyP ＋ ID control can get better speed, stability and smaller overshoot than the conventional PID control, the robustness is stronger.

关 键 词：机械臂 液压关节 FuzzyP+ID 控制策略 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]