摘要
针对SMA-电机复合驱动仿生肘关节控制非线性、时变、温度滞后等特点,提出了一种双输入-四输出的模糊控制算法,建立模糊PID自适应控制模型,求解复合驱动仿生肘关节在阶跃响应及理论轨迹下的动作状态,得到了仿生肘关节旋转和俯仰运动的位姿、角速度跟踪图谱。实验证明:设计的双输入-四输出的模糊PID自适应控制算法具有超调量小、系统鲁棒性高、响应速度快的特点,可以实现SMA-电机复合驱动仿生肘关节的精准位姿控制。
For the bionic elbow joint compoundly driven by SMA-motor with the characteristics of nonlinear, time varying and temperature hysteretic, the fuzzy control algorithm based on double inputs and four outputs was proposed and the fuzzy PID adaptive control model was established. The motion states of the composite driven bionic elbow were solved in the step response and the theoretical trajectory, and then the position and the angular velocity tracking graphs of the rotating and pitching motion of the elbow joint were obtained. Experimental results show that the design of dual-input and quadri-output adaptive fuzzy PID control has the characteristics of small overshoot, high system robustness and fast response speed, which can achieve the accurate position control of bionic elbow compoundly driven by SMA-motor.
出处
《重庆交通大学学报（自然科学版）》
CAS
北大核心
2017年第7期117-122,共6页
Journal of Chongqing Jiaotong University(Natural Science)
基金
国家自然科学基金资助项目(51375519)
重庆市研究生科研创新项目(CYS16190)
关键词
机电工程
复合驱动
仿生肘关节
模糊PID自适应控制
mechanical and electrical engineering
compound driving
bionic elbow joint
fuzzy PID adaptive control
