摘要
平面并联机构以其优异的性能在工程领域得到广泛应用,为有效提高机构运动精度,提出了基于模糊PID控制算法的3-RRR平面并联机构实时控制方法。在分析模糊PID控制原理的基础上,建立3-RRR平面并联机构模糊PID控制系统模型,搭建机构控制实验装置,实验研究了机构运动精度的实时控制。结果表明,对3-RRR平面并联机构施加模糊PID控制后,机构角位移误差最大值为2.1°,降幅达53%以上;建立的模糊PID控制系统能够用于机构运动精度实时控制,有效降低机构角位移误差,算法简单,实时性较好。
Planar parallel mechanism is widely used in the field of engineering because of its excellent performance.In order to enhance mechanism movement precision,the real time control method of 3-RRR planar parallel mechanism is presented based on the fuzzy-PID control algorithm. The fuzzy-PID control system model for 3-RRR planar parallel mechanism is established by analyzing the fuzzy-PID control theory. The experimental setup of mechanism for control is built. And the real time control of mechanism＇ s movement precision is studied through experiment. The results show that the maximum of mechanism angle displacement error is 2.1° when 3-RRR planar parallel mechanism is bring to bear fuzzy-PID control. And the decrease extent of error reaches to 53% upwards.The present fuzzy-PID control system can be used tothe real time control of mechanism＇s movement precision. And it can decrease the error of mechanism angle displacement efficiency. The present method is of simple arithmetic and real time characteristics.
作者
刘霞
单宁
Liu Xia;Shan Ning(College of Eleetromeehanieal Engineering, Xi＇an Polytechnic University, Xi＇an 710048, China;Equipment Engineering College, Engineering University of CAPF, Xi＇an 710086, China)
出处
《机械科学与技术》
CSCD
北大核心
2018年第6期854-858,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
陕西省教育厅科学研究项目(16JK1339)
西安工程大学博士基金项目(BS15021)资助
关键词
机构
3-RRR平面并联机构
模糊控制
实时控制
运动精度
mechanisms
3-RRR planar parallel mechanism
fuzzy control
real time control
movement precision
