机器人电液位置伺服系统的智能模糊控制  

INTELLIGENT FUZZY CONTROL OF ELECTRO-HYDRAULIC POSITION SERVO SYSTEM FOR ROBOT

作　　者：王昌银[1] 王应建[1] 林建亚[1] 路甬祥[1] 

机构地区：[1]浙江大学流体传动及控制研究所

出　　处：《机器人》1991年第4期17-21,共5页Robot

基　　金：国家教委开放实验室科学基金;国家〈七.五〉重点科技攻关项目的资助

摘　　要：本文针对机器人的关节电液位置伺服系统的特点,应用模糊集和人工智能原理设计了一种简单的智能模糊控制器.计算机仿真和实时控制实验结果均表明,智能模糊控制能有效地克服机器人系统固有的变惯量、非线性等不利因素的影响.此外,该控制器对系统参数变化具有较强的鲁棒性,能显著的提高机器人系统的定位精度和动态响应性能.In the light of some features of robot joint position servo system driven electro-hydraulically, a simpleintelligent fuzzy controller is designed by using principles of fuzzy set and artificial intelligence, Experimen-tal results of computer simulation and real-time,control show that it can effectively overcome some origi-nal unfavorable effects such as inconstant inertia, nonlinearity, and so on. Additionally it has relativelyhigh robustness to system parameters variations and can significantly improve positioning accuracy anddynamic performance of robot system.

关 键 词：机器人 伺服系统 模糊控制 

分 类 号：TP242.027[自动化与计算机技术—检测技术与自动化装置]