摘要
针对管道机器人电缆的恒张力控制,在采用常规的PID控制器的基础上,利用模糊PID控制算法,实现PID控制参数的自动调整。利用Matlab软件对模糊PID控制系统在阶跃信号下的响应进行仿真。实验结果表明,控制系统在一个固定的张力值下,电机的电流值保持恒定,即电机转矩恒定,可以保证电缆的恒张力控制。模糊PID控制算法具有动态响应快,稳态精度高等优点,能够达到系统控制要求。
Based on the traditional PID controller,the fuzzy-PID is adopted,and the controller parameter is adjusted automatically in constant tension control of pipeline robot capstan cable.Fuzzy-PID control system is simulated under the condition of step signal by Matlab.Experimental result shows that the value of motor current was constant under a fixed value of tension.Fuzzy-PID control system can realize constant tension control of cable.It has fast dynamic response,steady state and high precision.The system can achieve the control requirements.
出处
《北京信息科技大学学报（自然科学版）》
2011年第6期39-42,共4页
Journal of Beijing Information Science and Technology University
基金
国家科技重大专项(2009ZX04014-101)
