王昌银, 王应建, 林建亚, 路甬祥. 机器人电液位置伺服系统的智能模糊控制[J]. 机器人, 1991, 13(4): 17-21..
WANG Changyin, WANG Yinjian, LIN Jianya, LU Yongxiang. INTELLIGENT FUZZY CONTROL OF ELECTRO-HYDRAULIC POSITION SERVO SYSTEM FOR ROBOT. ROBOT, 1991, 13(4): 17-21..
Abstract:In the light of some features of robot joint position servo system driven electro-hydraulically, a simpleintelligent fuzzy controller is designed by using principles of fuzzy set and artificial intelligence, Experimental results of computer simulation and real-time,control show that it can effectively overcome some origi-nal unfavorable effects such as inconstant inertia, nonlinearity, and so on. Additionally it has relativelyhigh robustness to system parameters variations and can significantly improve positioning accuracy anddynamic performance of robot system.
[1] LING Jianya, CHEN ken. Adaptive control of hydraulic operated ,joint of robot. Proc .Int Conf on FPTC, Vol.I 1985
[2] 赵福良.林建亚.具有死区特征的电液位丑伺服系统的自适应控制.浙江大学学报,1988.(增刊)
[3] Dubois D, Pradc H. Fuuy sets and system theory and applications. Academic, Ncw York, 1980, 301-306
[4] Kickert W J M, Van Nauta Lemke. Applications of fuzzy controller in a warm plant, Automatics, 1976; 12(4):301-308
[5] 徐承伟.关于Fuzzy调节器的积分作用.自动化学报.1985: 11(2)
[6] 淳于怀太.模糊控制器与积分控制器混合应用的研究.化工自动化及仪表.1987
[7] 王永初.自动调节系统工程设计.机械工业出版社.1983