六自由度并联平台模糊PI控制研究  

Research on Fuzzy PI Control of Six Degrees of Freedom Parallel Platform

作　　者：张镇 李佳童 石建 高轶晨 ZHANG Zhen;LI Jiatong;SHI Jian;GAO Yichen(School of Mechanical and Electrical Engineering,Beijing Institute of Graphic Communication,Beijing 102600,China)

机构地区：[1]北京印刷学院机电工程学院,北京102600

出　　处：《北京印刷学院学报》2024年第6期67-72,共6页Journal of Beijing Institute of Graphic Communication

摘　　要：为了提高六自由度并联平台的精度和解决快速响应等问题,采用了模糊自适应PI控制的控制算法。在PID控制的基础上增加模糊算法来改进控制程序。建立六自由度并联平台的运动学模型以及机械系统控制模型,使用Matlab中Simulink模块建立了模糊PI控制器控制框图并与导入ADAMS中的六自由度并联平台模型进行联合仿真,对其中一根伸缩杆的运动进行仿真实验。仿真结果表明,加入模糊算法的PI控制相较于传统的PID算法提高了系统的动态响应速度,减少了超调量约40%,其响应时间减少了约31%。与加入模糊算法的P控制对比,系统超调量和响应时间也有所减少。In order to solve the problems of accuracy and fast response of the six degree of freedom parallel platform,the control algorithm of fuzzy adaptive PI control is adopted.On the basis of PID control,fuzzy algorithm is added to improve the control program.The kinematic model and mechanical system control model of the six degree of freedom parallel platform were established,and the fuzzy PI controller control block diagram was established using the Simulink module in Matlab and jointly simulated with the six degree of freedom parallel platform model imported into ADAMS.Conduct a simulation experiment on the motion of one of the telescopic rods.The simulation results show that compared with the traditional PID algorithm,the PI control with fuzzy algorithm improves the dynamic response speed of the system,reduces the overshoot by about 40%,and reduces the response time by about 31%.Compared with P control adding fuzzy algorithm,the system overshoot and response time are also reduced.

关 键 词：模糊PI控制 六自由度平台 联合仿真 ADAMS SIMULINK 

分 类 号：TP602[自动化与计算机技术—控制理论与控制工程]