【摘要】 以气动机械手水平运动气缸的柔性定位为对象,建立基于比例阀控缸的气动伺服系统,推导其数学模型,并运用PID(proportional-integral-differential)控制和自整定模糊PID控制方法,设计其控制器.通过Matlab和LabVIEW的混合编程,建立人机对话界面,同时搭建控制系统的试验平台.通过仿真分析和试验测试,结果表明PID控制和自整定模糊PID控制都能实现柔性定位,但后者具有更高的位置控制精度.更多还原

【Abstract】 Flexible positioning of the pneumatic manipulator horizontal cylinder is chosen as the research object,and the pneumatic servo system is established on the basis of cylinder controlled by proportional valve.The mathematical model is deduced,and the system controller is designed with the methods of PID(proportional-integral-differential)control and self-tuning fuzzy PID control.The man-machine dialogue interface is established and experimental platform of the control system is set up through a combination of Matlab and LabVIEW programming.The simulation and experimental results show that the PID control and self-tuning fuzzy PID control can realize the flexible positioning,but the latter has higher control precision.更多还原