摘要
分析了基于2R1T并联机构的自动调平系统运动学特性,给出该系统仿真模型下的控制策略和条件,为了提高轨迹追踪精度和减少系统受到的不确定的参数的影响,针对该平台模型设计了一种模糊自适应控制器,控制器使用平台位置传感器反馈信号,并可在模糊化界面实时修改PID参数。仿真结果证明该控制算法比传统PID能更有效减少位置误差。
The motion characteristics about automatic leveling system of parallel mechanisms based on 2R1T were analyzed,the control strategies and conditions for the simulation model were given. In order to improve the accuracy of position tracking and weaken the influence of uncertain parameters on automatic leveling system,a practical fuzzy adaptive controller was designed based on the kine-matics of parallel platform,where fuzzy inference units were utilized to modify the PID parameters in real-time by using the position feedback from the robot actuators. The virtual experiment results demonstrate that the proposed algorithm is able to effectively reduce the position tracking errors compared with the traditional PID controller.
出处
《机床与液压》
北大核心
2014年第9期13-16,9,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(50965007)
关键词
自动调平
并联机构
模糊自适应
控制策略
Automatic leveling
Parallel manipulator
Fuzzy adaptive algorithm
Control strategy
