机械臂液压关节FuzzyP+ID控制器的软件实现  

Software Realization of the FuzzyP+ID Controler in Mechanical Manipulator's Hydraulic Joint

作　　者：张攀峰[1] 穆希辉 郭浩亮[1] 郝建滨[1] 

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

出　　处：《机械与电子》2012年第4期68-70,共3页Machinery & Electronics

基　　金：国家"八六三"项目(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。依据PID控制获得控制经验,结合模糊控制思想,设计了FuzzyP+ID控制器。软件实现中,基于TI公司的DSP处理芯片实现了FuzzyP+ID控制算法,将模糊输入输出变量论域作离散化处理,并建立了离线推理的控制规则表,模糊控制器在线运行时,通过查表完成控制过程,实时性强,稳定性好。In this paper,the FuzzyP＋ID control strategy of the hydraulic drive joint is proposed in view of non-linear,time-varying feather.Combining with the of Fuzzy control theory and the experience of the PID control strategy,the FuzzyP＋ID controller is designed.Based on DSP processing chip made in TI,FuzzyP＋ID control algorithm is achieved,the universe of Fuzzy sets of the input and output variables is discretized and the control rule table of off-line inference can be obtained.During the fuzzy controller operation on-line,the control process is completed through look-up table,the better real-time property and stability is gained.

关 键 词：机械臂 液压关节 FuzzyP+ID控制策略 软件实现 

分 类 号：TH241[机械工程—机械制造及自动化]