气动人工肌肉仿生行走机构模糊PID控制  

Fuzzy PID Control of Pneumatic Artificial Muscle Biological Emulation Travel Mechanism

作　　者：刘志成[1] 孙大刚[1] 梁建宗 

机构地区：[1]太原科技大学机械工程学院 [2]四川成都成工工程机械股份有限公司

出　　处：《工程机械》2012年第5期29-33,45,共6页Construction Machinery and Equipment

基　　金：教育部高等学校博士点基金项目(200801090001)

摘　　要：以DMSP型人工气动肌腱为履带式工程车辆行走机构的缓冲执行器,建立四自由度行走机构主动缓冲减振模型;以白噪声模拟路面输入,采用模糊PID控制对仿生行走机构的减振特性进行研究。并以悬架加速度和位移的最大值、最小值、标准差3项指标进行对比分析。仿真结果表明,在选定的3种工况下,DMSP型人工气动肌腱缓冲仿生行走机构可显著减小路面激励对悬架的振动冲击,提高了整车的减振性能。It is to utilize DMSP artificial pneumatic muscle as a buffer actuator for the traveling mechanism of a track type construction vehicle by constructing a model of four degree freedom in active damping for the moving mechanism. White noise was simulated for the road surface input, while utilizing fuzzy PID control to study damping features of the bionic moving mechanism. Results of the simulation show that for three selected working conditions the DMSP artificial pneumatic muscle damping bionic moving mechanism can obviously reduce vibratory impact by the surface energizer onto the frame suspension, thus enhancing vibration damping performance of the vehicle as a whole.

关 键 词：仿生行走机构 人工气动肌腱 模糊PID控制 减振 

分 类 号：TU601[建筑科学—建筑技术科学]