基于改进的PID算法的压电柔性机械臂振动主动控制

张娟; 白斌; 舒亚峰; 刘自强

doi:10.13433/j.cnki.1003-8728.2014.0501

基于改进的PID算法的压电柔性机械臂振动主动控制

doi: 10.13433/j.cnki.1003-8728.2014.0501

1.
西北工业大学力学与土木建筑学院, 西安 710129

基金项目:

西北工业大学基础研究基金项目(JC20110256)

国家自然科学基金项目(NSFC11172234)资助

详细信息

作者简介:
张娟(1973-)，副教授，博士，研究方向为大柔性机械臂振动控制，zhangj@nwpu.edu.cn

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- 文章访问数: 445
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- 被引次数: 0
出版历程
- 收稿日期: 2012-12-04
- 刊出日期: 2015-06-10

A Vibration Control System of Flexible Manipulator Based on Incremental Fuzzy Self-tuning PID Algorithm

1.
School of Mechanics, Civil Engineering and Architecture, Northwestern Polytechnical University, Xi'an 710129

摘要

摘要: 针对柔性机械臂的振动抑制问题,将模糊逻辑控制与增量式PID算法结合,通过模糊控制算法对增量式PID的主要参数进行在线最佳整定,从而得到增量式模糊自整定PID控制算法。通过对无反馈控制、增量式PID控制、增量式模糊自整定PID控制的分析及仿真,说明此控制方法可以使机械臂末端振幅衰减80%以上。改变机械臂的末端集中质量的结果表明:当机械臂抓取不同质量重物时,增量式模糊自整定PID控制算法仍然能够达到良好的控制效果。
- 反馈控制 /
- 振动 /
- 模糊控制 /
- 自适应系统
Abstract: The Incremental Fuzzy Self-tuning PID Control(IFSPC) is proposed for active vibration control of flexible piezoelectric manipulator. The control system combines fuzzy logic control and incremental PID algorithm, and the main parameters of incremental PID are tuned by fuzzy logic algorithm. The vibration amplitude can be suppressed by IFSPC with a decrement of 80%. And its advanced performance of vibration suppression and stability can be proved by comparison with no-feedback control and the incremental PID control. Its adaptability can be verified by changing the concentrated mass at the end of the arm. The simulation results show that the proposed IFSPC can be used for real-time vibration control in flexible manipulator effectively.
- adaptive systems /
- algorithms /
- computer simulation /
- feedback control

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参考文献(8)

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