【摘要】 在X-Y工作台进行打磨、抛光等作业时,保证位置跟踪精度的同时对接触面需施加一定的控制力。基于X-Y工作台动力学模型的基础上,提出一种力/位置混合控制方法。在位置控制回路,采用常规的PID控制方法。在力控制回路,采用自适应模糊PID控制算法。将模糊控制与PID控制相结合,实时对PID参数进行整定,提高系统的鲁棒性和自适应能力。运用MATLAB中fuzzy工具箱,通过和Simulink有机结合,降低了自适应模糊PID控制算法的仿真难度。仿真结果表明该方案相较于常规PID控制方法,位置控制精度和力控制精度有明显改善,提高了系统鲁棒性。更多还原

【Abstract】 When the X-Y table is used to do the work such as grinding,polishing and other operations,the purpose of controlling is to control the contact force between the environment and object while precisely tracking the position. A kind of force/position hybrid control algorithm based on dynamics model of X-Y table system is given. Conventional PID control method is used in position control part.A self-adaptive fuzzy PID control algorithm is used in force control part. The combination of fuzzy control and PID control,real-time PID tuning parameters to improve the system’s robustness and selfadaptive ability. The use of fuzzy toolbox in MATLAB,through the organic combination with Simulink,the simulation difficulty of the adaptive fuzzy PID control algorithm is reduced. The simulation results indicate that compared with the conventional PID control alogorithm,the position control accuracy and force control accuracy to be improved,and improve the system robustness.更多还原