| 基于模糊PID算法的六自由度并联机构控制研究 |
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| 引用本文： | 杨靖一,黄山云,丁祝顺,荆龙宾.基于模糊PID算法的六自由度并联机构控制研究[J].导航与控制,2017,16(5):33-39. |
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| 作者姓名： | 杨靖一 黄山云 丁祝顺 荆龙宾 |
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| 作者单位： | 北京航天控制仪器研究所,北京,100039 |
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| 摘 要： | 针对六自由度并联机构难以实现高精度及快速响应的问题,分析六自由度并联机构模型,提出基于模糊PID的六自由度并联机构的控制算法.介绍了六自由度并联机构的运动学反解模型及机械系统模型;在此基础上确定模糊算法的模糊语言变量、隶属函数和模糊规则,完成了六自由度并联机构模糊PID控制器的设计.针对一组PID控制参数进行了仿真和实验,结果表明,加入模糊算法的PID控制提高了系统的动态响应特性及运动精度.
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| 关 键 词： | 运动学反解 模糊PID控制 六自由度 SimMechanics |
Research on the Controller of a 6-DOF Parallel Platform Based on the Fuzzy PID Strategy |
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| YANG Jing-yi,HUANG Shan-yun,DING Zhu-shun and JING Long-bin.Research on the Controller of a 6-DOF Parallel Platform Based on the Fuzzy PID Strategy[J].Navigation and Control,2017,16(5):33-39. |
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| Authors: | YANG Jing-yi HUANG Shan-yun DING Zhu-shun and JING Long-bin |
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| Institution: | Beijing Institute of Aerospace Control Devices,Beijing 100039,Beijing Institute of Aerospace Control Devices,Beijing 100039,Beijing Institute of Aerospace Control Devices,Beijing 100039 and Beijing Institute of Aerospace Control Devices,Beijing 100039 |
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| Abstract: | Due to the difficulties in the high precision and fast response of parallel mechanism,the parallel mecha-nism model is analyzed,the PID controller based on fuzzy algorithm is proposed to solve the motioned problem.Firstly,the inverse kinematics solution process of parallel mechanism is deduced.On the basis of analyzing the PID control and fuzzy control principle,the fuzzy language variables,membership function and fuzzy rules are determined,then six DOF parallel mechanism fuzzy PID controller is designed to improve the precision and response of the system.Finally,by the simulation and experiment analysis,the results show that the fuzzy PID controller improves the dynamic response performance and pre-cision. |
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| Keywords: | inverse kinematics PID fuzzy control six-DOF SimMechanics |
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