| 双连杆柔性机械臂的模糊PID参数自调整控制 |
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| 引用本文： | 庞文尧,丁金婷,黄戟.双连杆柔性机械臂的模糊PID参数自调整控制[J].科技通报,2007,23(4):549-552. |
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| 作者姓名： | 庞文尧 丁金婷 黄戟 |
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| 作者单位： | 1. 浙江大学,城市学院电气系,杭州,310015
2. 浙江商业职业技术学院,杭州,310053 |
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| 摘 要： | 对双连杆柔性机械臂动力学非线性控制问题进行了分析。针对研究对象强非线性和强耦合性的特点，提出了一种具有自适应特点的PID参数模糊自调整控制方案。仿真研究表明，采用该控制方案的柔性臂系统能有效抑制弹性振动，并具有较高的跟踪精度和较强的实时性、鲁棒性。
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| 关 键 词： | 柔性臂 模糊控制 PID控制 |
| 文章编号： | 1001-7119（2007）04-0549-04 |
| 收稿时间： | 2006-02-21 |
| 修稿时间： | 2006-02-21 |
Fuzzy Self-tuning PID Control of Two-link Flexible Arm |
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| PANG Wen-yao,DING Jin-ting,HUANG Ji.Fuzzy Self-tuning PID Control of Two-link Flexible Arm[J].Bulletin of Science and Technology,2007,23(4):549-552. |
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| Authors: | PANG Wen-yao DING Jin-ting HUANG Ji |
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| Institution: | 1. Department of Electric Engineering, Zhejiang University City College, Hangzhou, 310015, China; 2. Zhejiang Vocational College of Commerce, Hangzhou, 310053, China |
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| Abstract: | The nonlinear dynamic control strategy of two-link flexible arm is analyzed. Because the flexible arm is a non- linear and strong coupling dynamic system, the method of fuzzy self-tuning PID controller is proposed. The simulation results show that the proposed control scheme not only has a good result of vibration reducing but also can lead to very high tracking precision, real time performance and robustness. |
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| Keywords: | flexible arm fuzzy control PID control |
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