机械科学与技术2018，Vol.37Issue(6)：854-858,5.DOI:10.13433/j.cnki.1003-8728.2018.0606
3-RRR平面并联机构模糊PID控制系统研究
Research of Fuzzy-PID Control System for 3-RRR Planar Parallel Mechanism
摘要
Abstract
Planar parallel mechanism is widely used in the field of engineering because of its excellent performance.In order to enhance mechanism movement precision,the real time control method of 3-RRR planar parallel mechanism is presented based on the fuzzy-PID control algorithm.The fuzzy-PID control system model for 3-RRR planar parallel mechanism is established by analyzing the fuzzy-PID control theory.The experimental setup of mechanism for control is built.And the real time control of mechanism's movement precision is studied through experiment.The results show that the maximum of mechanism angle displacement error is 2.1 ° when 3-RRR planar parallel mechanism is bring to bear fuzzy-PID control.And the decrease extent of error reaches to 53％ upwards.The present fuzzy-PID control system can be used tothe real time control of mechanism's movement precision.And it can decrease the error of mechanism angle displacement efficiency.The present method is of simple arithmetic and real time characteristics.关键词
机构/3-RRR平面并联机构/模糊控制/实时控制/运动精度Key words
mechanisms/3-RRR planar parallel mechanism/fuzzy control/real time control/movement precision分类
机械制造引用本文复制引用
刘霞,单宁..3-RRR平面并联机构模糊PID控制系统研究[J].机械科学与技术,2018,37(6):854-858,5.基金项目
陕西省教育厅科学研究项目(16JK1339)与西安工程大学博士基金项目(BS15021)资助 （16JK1339）
