【摘要】 对精密伺服工作台的定位控制方法进行了研究,提出了采用参数自调整模糊-PI复合控制的新型算法对伺服工作台进行闭环控制,实现精确定位;该方法具有自学习和自适应的特点,而且克服了传统模糊控制存在的静差和振荡问题;实验中给出了参数自调整模糊-PI复合控制器的simulink模型,并进行了仿真实验;实验结果表明该方法相对于一般的模糊控制和PI控制具有良好的超调和响应快速性,通过优化自调整参数和模糊控制规则,可以得到更好的系统响应曲线,对于实际控制系统,该控制算法具有较好的稳定性。更多还原

【Abstract】 Precision servo-worktable is an important part of a micro-assembly system,and it implemented the movement along X-and Y-axes of the assembly devices.In order to improve the positioning accuracy of the worktable,a modified closed-loop control algorithm based on a parameter self-adjusting Fuzzy-PI compound controller is designed and simulated.The new method is featured by self-learning and adaptability,and overcame the steady-state error and oscillation of the general fuzzy control methods.The Simulink model of the parameter self-adjusting Fuzzy-PI compound controller was established in MATLAB,and the response characteristic of the servo-worktable system was simulated.Simulation results show that the new method has the better overshoot and rapidity than the conventional fuzzy and PI control methods.Especially to the actual system,it has the better stability.更多还原