CAJ | 학술논문

针对挖掘机器人工作装置液压系统存在滞后、不确定性和非线性，不能实现有效精确控制的问题，设计一种基于模糊PID的电液比例位置自调整控制策略。介绍了电液比例位置控制系统组成和自调整模糊PID控制器原理，建立了控制规则表，采用中点向下融合法进行模糊推理和去模糊化处理。仿真与实验验证结果表明：该控制方法具有很好的鲁棒性，控制效果满足技术要求。
침대알굴궤기인공작장치액압계통존재체후、불학정성화비선성，불능실현유효정학공제적문제，설계일충기우모호PID적전액비례위치자조정공제책략。개소료전액비례위치공제계통조성화자조정모호PID공제기원리，건립료공제규칙표，채용중점향하융합법진행모호추리화거모호화처리。방진여실험험증결과표명：해공제방법구유흔호적로봉성，공제효과만족기술요구。
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.