一种用于中国烹饪机器人的火候模糊控制系统  

A heating fuzzy control system for Chinese cooking robots

作　　者：马文涛[1,2] 闫维新[1,2] 付庄[1,2] 赵言正[1,2] 

机构地区：[1]机械系统与振动国家重点实验室,上海200240 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《哈尔滨工业大学学报》2012年第1期120-125,共6页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2006AA040205;2007AA041601;2007AA041602;2007AA041603)

摘　　要：为使中国菜肴烹饪机器人具备自主烹饪的能力,提出了一种火候模糊控制系统.该系统可根据锅具内容物的颜色和温度变化,以及燃烧器中燃气压力和空气泵的输出压力,结合当前烹饪步骤、当前烹饪原料信息,在模糊化后,经过火候设定模糊推理与火力随动模糊推理,获得燃气比例阀驱动电流、空气泵控制电压、烹饪工序预期完成时间等输出量的模糊值,解模糊后控制燃气引射装置中的气泵流量,调整加热时间.实验表明,采用该模糊控制系统后,燃烧器能够达到较好的燃烧效果,烹饪机器人也能够烹饪出品质优良的菜肴.To make the Chinese cooking robot have the ability to cook autonomously,this paper presents a heating fuzzy control system.With the current cooking process and other information of cooking materials,the system is input materials＇ colors and temperature in the wok,the output pressure of a gas proportional valve,and the output pressure of an air pump.After fuzzification,and through a heating set fuzzy inference and a power servo fuzzy inference,the fuzzy values of control current of gas proportional valve,the control voltage of air pump and the expected completion time of cooking process will be obtained.After defuzzication,these values will be used to adjust the gas proportional valve,the air pump and the left time of current cooking process.Experiments show that,after adopting the fuzzy control system,the burner can combust very well,and the Chinese cooking robot can also cook dishes with good quality.

关 键 词：中国烹饪机器人 模糊控制系统 火候控制 

分 类 号：TH133[机械工程—机械制造及自动化] TP183[自动化与计算机技术—控制理论与控制工程]