自组织模糊控制比例阀—油缸系统缓冲与定位  

CUSHIONING AND POSITIONING OF PROPORTIONAL VALVE-CYLINDER SYSTEM CONTROLLED BY A SELF-ORGANIZED FUZZY CONTROLLER

作　　者：何祖诚[1] 刘延俊[1] 张延纲 

机构地区：[1]山东工业大学机械工程系

出　　处：《山东工业大学学报》1991年第4期26-34,共9页

摘　　要：用于液压机械手的油缸缓冲定位方法有多种,对它们各自的特点作了比较。提出一种新型的自组织模糊控制缓冲定位方案。设计、实现了用单板机控制的比例阀—油缸缓冲定位系统。该系统价格低、精度高、对油液污染不敏感,可实现活塞在油缸全行程内任意点的缓冲定位。使用自组织模糊控制器,避免了建立精确复杂数学模型的困难,并采用模糊控制器参数自调整的方法以满足过程响应在不同工作状态下对参数的不同要求,可得到最佳的响应特性。该控制器模拟了人的“粗调”和“细调”的操作方法,以压力冲击值的大小为判据,自动修正控制参数,表现了一定的智能。实验结果表明,自组织模糊控制器对不同的工况有较强的适应性,并实现了可变的缓冲行程。系统稳态误差不大于±0.02mm,定位时冲击压力可减少44％。Several cushioning and positioning methods of hydraulic cylinders used in robots have been investigated and compared, a new scheme for cushioning and positioning control system is presented. A proportional valve-cylinder system controlled by a self-organization fuzzy controller has been designed and completed. Practice has proved that the system has the advantage of low cost, high precision and contamination insensitivity. It also enables the piston to position at any point within the stroke.With self-organization fuzzy controller, the difficulties in modelling are avoided. A method of parameters self-adjusting is proposed to meet process requirement on different work condition, thus with the operation method which imitates the human 'rough' and 'fine' adjusting process, the controller becomes more intelligent and gets an optimized response. Experiments show that the adaptability of the self-organized fuzzy controller works very well in different work condition, and can realize variable cushioning strake. The positioning precision of the piston reaches to±0.02mm, and the peak pressure in cushioning process can be reduced to 44%.

关 键 词：液压缸 缓冲 定位 自组控制 

分 类 号：TH137.51[机械工程—机械制造及自动化]