摘要
提出了一种力/位置混合控制方法。在位置控制部分,采用专家PID位置控制器;在力/位置控制回路,采用基于自适应模糊滑模控制的力控制器,利用第一类模糊逻辑系统逼近控制系统中的不确定项,然后结合滑模控制,设计鲁棒补偿项,并采用切换模糊化滑模控制来抑制外部环境的变化及干扰,仿真结果表明该控制方案使平台系统的鲁棒性和自适应性得到了明显改善。
A hybrid position/force control method was presented. An expert PID position controller was utilized to control the position ,and to control the circuit of position/force, and force controller was adopted based on self-adaptive fuzzy sliding mode. The robust compensation item was designed by combining the sliding mode with the uncertain item in the first kind of fuzzy logic system. And switching type fuzzy sliding mode control was employed to avoid charges and disturbances caused by the external environment. The simulation result indicates that this control scheme greatly improves the robustness and self-adaptiveness of the table system.
出处
《微特电机》
北大核心
2009年第8期53-56,共4页
Small & Special Electrical Machines
基金
河北省科技攻关计划项目(07212106D)
