兵工自动化Issue(10)：72-76,5.DOI:10.7690/bgzdh.2014.10.019
挖掘机器人电液比例位置自调整模糊PID控制技术研究
Research on Self-Tuning Fuzzy PID Control for Electro-Hydraulic Proportion Positional Control System of Robotic Excavator
骆云志 1张春华 1王钤1
作者信息
- 1. 中国兵器工业第五八研究所军品部，四川 绵阳 621000
- 折叠
摘要
Abstract
A method of electro-hydraulic proportional position control based on fuzzy PID self-tuning control strategy is designed, in the light of the problem of servo control precision because of the hysteresis, uncertainty and nonlinearity of work devices and hydraulic system of the robotic excavator. Introduce the structure of electro-hydraulic proportional positional control system and the principle of fuzzy self-tuning PID controller parameters, forms the fuzzy PID control rule table. It also introduces a method of midpoint down fusion fuzzy inference and defuzzification techniques. Simulating and experimental results indicate the method has good robustness and meets technology requirements.关键词
挖掘机器人/电液比例位置控制/模糊PIDKey words
robotic excavator/electro-hydraulic proportional positional control/fuzzy PID分类
信息技术与安全科学引用本文复制引用
骆云志,张春华,王钤..挖掘机器人电液比例位置自调整模糊PID控制技术研究[J].兵工自动化,2014,(10):72-76,5.
