摘要
为了实现视觉导航铣刨机对导航基准线的跟踪,根据视觉导航铣刨机对象复杂,作业环境存在不确定因素、对象本身存在非线性和大时滞的特点,采用模糊控制方法对铣刨机进行导航;首先对其控制方法进行了研究分析,然后设计了视觉导航铣刨机的模糊控制器,最后在MATLAB环境下对控制器性能进行了仿真分析,结果表明,模糊控制器能较好地实现铣刨机的导航,与传统控制方法相比,提高了系统抗外部干扰能力和内部参数变化的鲁棒性,改善了动态特性。
In order to achieve the tracking of visual navigation milling machine on the navigation baseline, according to the complexity of the visual navigation milling machine object, the operating environment uncertainties, nonlinear and delay characteristics of the object itself, the fuzzy control method is used for milling machine navigation. By researching and analyzing the control methods, the fuzzy controller of the visual navigation milling machine is designed. Through the simulation analysis of the controller performance in the MATLAB environment, the results that the fuzzy controller can better achieve the navigation of the milling machine are obtained. Compared with the traditional control methods, the fuzzy control method can improve the ability of the system against external interference, the robustness of internal parameters change and the dynamic characteristics.
出处
《计算机测量与控制》
CSCD
北大核心
2012年第10期2716-2718,共3页
Computer Measurement &Control
基金
国家自然科学基金(51178053)
关键词
视觉导航
铣刨机
模糊控制
仿真
vision navigation
milling machine
fuzzy controller
simulation
