基于可变形园林修剪机的模糊PID控制分析  

Analysis of Fuzzy PID Control based on Deformable Garden Trimmers

作　　者：李秉旭 LI Bing-xu(School of Mechanical Engineering,Jiamusi University,Jiamusi Heilongjiang 154003,China)

机构地区：[1]佳木斯大学机械工程学院,黑龙江佳木斯154003

出　　处：《林业机械与木工设备》2022年第8期68-74,80,共8页Forestry Machinery & Woodworking Equipment

摘　　要：为提高园林修剪功能多样性和工作稳定性,可变形修剪机应运而生。可变形修剪机中末端执行器由多个变形关节组成,对末端修剪器的控制系统设计实际上就是对关节处电动舵机的控制系统的设计。考虑到修剪机执行器基本结构、修剪机修剪环境以及修剪造型功能的多样性,控制系统需要具有良好的自适应和抗干扰能力。通过对修剪器中关节舵机的选型,建立相关数学模型,确定传递函数,设计模糊PID控制器。通过Simulink仿真软件,对比开环控制、传统的PID控制和模糊PID控制的控制性能,对比模糊PID控制上升时间、超调量和稳定时间,验证修剪机控制系统的合理性。In order to improve the functional diversity and working stability of garden pruning, a deformable trimmer was developed.The end actuator of the deformable trimmer is composed of multiple deformable joints.The design of the control system of the end trimmer is actually the design of the control system of the electric actuator at the joint.Considering the diversity of the basic structure of the pruner actuator, the pruning environment and the pruning modeling function of the pruner, the control system needs to have good adaptability and anti-interference ability.Through the selection of the joint actuator in the trimmer, a relevant mathematical model was established, with the transfer function determined, and the fuzzy PID controller designed.Through Simulink simulation software, the control performance of open-loop control, traditional PID control and fuzzy PID control was compared, and the rise time, overshoot and stability time of fuzzy PID control were compared to verify the rationality of the trimmer control system.

关 键 词：园林机械 修剪机 模糊PID 自适应性 

分 类 号：TU986.32[建筑科学—城市规划与设计]