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针对六自由度并联机构难以实现高精度及快速响应的问题,分析六自由度并联机构模型,提出基于模糊PID的六自由度并联机构的控制算法。介绍了六自由度并联机构的运动学反解模型及机械系统模型;在此基础上确定模糊算法的模糊语言变量、隶属函数和模糊规则,完成了六自由度并联机构模糊PID控制器的设计。针对一组PID控制参数进行了仿真和实验,结果表明,加入模糊算法的PID控制提高了系统的动态响应特性及运动精度。
To solve the problem of high precision and rapid response of six degree of freedom parallel mechanism, the model of six degree of freedom parallel mechanism is analyzed and the control algorithm of six degree of freedom parallel mechanism based on fuzzy PID is proposed. The kinematic inverse model and mechanical system model of the six degrees-of-freedom parallel mechanism are introduced. Based on this, the fuzzy linguistic variables, membership functions and fuzzy rules of the fuzzy algorithm are determined, and the design of the fuzzy PID controller with six degrees of freedom parallel mechanism is completed. A series of PID control parameters are simulated and tested. The results show that the PID control with fuzzy algorithm improves the dynamic response and accuracy of the system.