Exploring Compensation Fuzzy PD Control over Gravity of Cleaning Machine's Digging Chain Guide Groove
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摘要: 由于清筛机挖掘链条导槽系统的强非线性,采用的PD控制方法在参数发生变化时,很容易导致过大的超调甚至起震,系统的动静态性能变差很大。为了提高系统的控制效果,设计了一种结合了重力补偿PD控制和模糊控制这两种方法优点的重力补偿模糊PD控制器,并将其引入到RM80清筛机的挖掘链导槽系统中。在Matlab/Simulink环境下进行的仿真结果表明:设计的补偿重力模糊PD控制器与传统PD控制器相比,改善了系统的动态性能,具有较好的鲁棒性和抗干扰性。Abstract: Due to the strong nonlinearity of a cleaning machine's digging chain guide groove, the PD control meth-od may easily cause large overshoots or even shaking when its parameters change.The digging chain guide groove often shows a big difference between its static performance and dynamic performance.To improve its control effect, we design a gravity compensation fuzzy PD controller that combines the advantages of gravity compensation PD con-trol with those of fuzzy control and then introduce the fuzzy PD controller into the RM80 cleaning machine's digging chain guide groove.We use the MATLAB/Simulink to simulate the control effect.The simulation results show that, compared with the traditional PD controller, the gravity compensation fuzzy PD controller can improve the dynamic performance of the digging chain guide groove and produce a better robustness.
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Key words:
- fuzzy control /
- PD control /
- gravity compensation fuzzy PD controller /
- cleaning machine
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