摘要
介绍了一种新型的自适应fuzzy PD控制器 ,并研究了它在气动伺服位置控制系统中应用的适应性问题和非线性摩擦力的补偿方法 ,提出了一种新的模糊逻辑控制补偿算法 .它通过一个自适应模型参数Ma的调整控制 ,提高了气动伺服系统的控制精度 .试验结果表明 :与传统的控制方法相比较 ,自适应fuzzy PD控制器具有动态性能好、自适应能力强和位置控制精度高等优点 .
This paper presents a new adaptive fuzzy-PD controller and researches the adaptability of the fuzzy-PD controller for a pneumatic servo position control system and takes its typical characters into consideration and places a special emphasis on the method of compensation for nonlinear friction. A new control algorithm for friction compensation is introduced to reach the goal of improving the accuracy of pneumatic servo position control systems by means of adjustment of a so-called adaptive model parameter Ma. The experiment results show that the adaptive fuzzy-PD controller has better dynamic characters, stronger adaptability and higher position accuracy than conventional ones.
出处
《海军工程大学学报》
CAS
2002年第3期14-20,共7页
Journal of Naval University of Engineering
