| Fuzzy-PID在柔索并联驱动转台控制系统中的应用 |
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| 引用本文： | 陈新增,施光林. Fuzzy-PID在柔索并联驱动转台控制系统中的应用[J]. 微计算机信息, 2007, 23(1) |
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| 作者姓名： | 陈新增 施光林 |
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| 作者单位： | 机电控制研究所,上海市上海交通大学,200030 |
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| 摘 要： | 本文提出了一种带有约束机构的并联柔索驱动转台,介绍该转台的机构构型,设计了一种利用模糊逻辑进行在线参数自适应的Fuzzy-PID控制器。该控制器能够对PID的参数进行在线自动调整,仿真结果表明,采用参数自适应模糊PID控制器后,控制系统的响应速度加快,超调量减小,过渡过程时间大大缩短,振荡次数少,具有较强的鲁棒性和良好的稳定性。
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| 关 键 词： | 柔索驱动 Fuzzy-PID 约束机构 转台 |
Application of Fuzzy-PID on Cable-Driven Parallel Platform |
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| CHEN XINZENG,SHI GUANGLIN. Application of Fuzzy-PID on Cable-Driven Parallel Platform[J]. Control & Automation, 2007, 23(1) |
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| Authors: | CHEN XINZENG SHI GUANGLIN |
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| Affiliation: | (shanghai jiaotong university,mechatronics institute,shanghai 200030)Chen Xinzeng Shi Guanglin |
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| Abstract: | A new type of wire- driven parallel platform with restraint mechanism driven by three wires is proposed.A parameter self- adaptive Fuzzy- PID controller is designed by use of fuzzy logical rules.The controller can make online self- regulation of PID param- eters. Proper parameters are selected effectively.Simulation result and field application show that after the parameter self- adaptive Fuzzy- PID controller being used,response speed of control system is quicken.Over regulation measurement greatly is reduced,transi- tional time is shorten, fluctuation times is decreased and control system possess rather strong robustness and good stability. |
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| Keywords: | Wire driven Fuzzy-PID restraint mechanism platform |
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