论文部分内容阅读
针对并联机构数学模型不易获得,传统控制方法难以实现精准控制,提出了利用模糊PID控制器对3-TPT并联机构进行控制的方法,克服了简单模糊控制和传统PID控制精度不高的缺点。介绍了PID和模糊控制器各参数的调节作用,分析了模糊PID控制的影响因素,建立了模糊控制规则。通过Simulink建立模糊PID控制模型可以直观了解控制系统结构,操作简便,参数易调节。由仿真结果可知,该方法响应速度快,精度较高,超调较小,可以取得满意的控制效果。这一研究为并联机构的精准控制和优化设计提供了理论基础。
In view of that the mathematical model of parallel mechanism is not easy to be obtained and the traditional control method is difficult to achieve precise control, a method of controlling the 3-TPT parallel mechanism by using fuzzy PID controller is proposed, which overcomes the shortcomings of simple fuzzy control and traditional PID control. The adjustment function of each parameter of PID and fuzzy controller is introduced. The influencing factors of fuzzy PID control are analyzed, and the fuzzy control rules are established. Through the establishment of fuzzy PID control model Simulink can intuitively understand the control system structure, easy to operate, easy to adjust the parameters. From the simulation results, we can see that the method has the advantages of fast response, high precision and small overshoot, which can achieve satisfactory control effect. This research provides the theoretical basis for the accurate control and optimization design of the parallel mechanism.