CAJ | 학술논문

分析了基于2 R1 T并联机构的自动调平系统运动学特性，给出该系统仿真模型下的控制策略和条件，为了提高轨迹追踪精度和减少系统受到的不确定的参数的影响，针对该平台模型设计了一种模糊自适应控制器，控制器使用平台位置传感器反馈信号，并可在模糊化界面实时修改PID参数。仿真结果证明该控制算法比传统PID能更有效减少位置误差。
분석료기우2 R1 T병련궤구적자동조평계통운동학특성，급출해계통방진모형하적공제책략화조건，위료제고궤적추종정도화감소계통수도적불학정적삼수적영향，침대해평태모형설계료일충모호자괄응공제기，공제기사용평태위치전감기반궤신호，병가재모호화계면실시수개PID삼수。방진결과증명해공제산법비전통PID능경유효감소위치오차。
The motion characteristics about automatic leveling system of parallel mechanisms based on 2R1T were analyzed,the control strategies and conditions for the simulation model were given. In order to improve the accuracy of position tracking and weaken the influence of uncertain parameters on automatic leveling system,a practical fuzzy adaptive controller was designed based on the kine-matics of parallel platform,where fuzzy inference units were utilized to modify the PID parameters in real-time by using the position feedback from the robot actuators. The virtual experiment results demonstrate that the proposed algorithm is able to effectively reduce the position tracking errors compared with the traditional PID controller.