﻿ 基于ADAMS和MATLAB的Stewart并联机器人模糊自适应PID控制仿真 Simulation for Stewart Parallel Robot with Fuzzy Self-Tuning PID Controller Based on ADAMS and MATLAB

Instrumentation and Equipments
Vol.03 No.03(2015), Article ID:15985,9 pages
10.12677/IaE.2015.33009

Simulation for Stewart Parallel Robot with Fuzzy Self-Tuning PID Controller Based on ADAMS and MATLAB

Yongchao Fan, Yuesong Li, Qun Yu, Yuan Nie, Shuai Wang, Naiqiang Li

School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang Henan

Email: liyaosong707@163.com

Received: Aug. 10th, 2015; accepted: Aug. 31th, 2015; published: Sep. 4th, 2015

Copyright © 2015 by authors and Hans Publishers Inc.

ABSTRACT

In order to obtain the simulation model, the model of Stewart parallel mechanism is established with the help of ADAMS; the Stewart parallel robot system with fuzzy self-tuning PID controller is given based on Simulink. Stepping from Z = 0 to Z = 1 m, peak time of Stewart parallel robot is 0.25 s, and steady state error is less than 0.01 m. The proportional coefficient is rising to 2.68 after declining. At first, integral coefficient is zero, and it rises to 0.08 quickly at 0.05 s.

Keywords:Stewart Parallel Mechanism, Robot, Fuzzy PID Control, Union Simulation

Email: liyaosong707@163.com

1. 引言

2. Stewart并联机构

Stewart并联机构如图1所示，其由动平台、静平台、球铰和六个伸缩缸构成，伸缩缸可以是液压缸也可以是电动伸缩缸，其下端通过球铰和静平台相连，上端通过球铰和动平台相连。

Figure 1. Schematic diagram of stewart parallel robot

3. Stewart并联机器人控制模型

3.1. Stewart并联机构的动力学模型

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

3.3. 模糊PID控制

Figure 2. Three-dimensional model of Stewart parallel robot

Figure 3. Stewart parallel robot system with fuzzy self-tuning PID controller

1) 定义输入、输出模糊集并确定个数类别

(14)

(15)

2) 确定输入输出变量的实际论域

(16)

(17)

3) 定义输入、输出的隶属函数

(18)

(19)

4) 确定相关模糊规则并建立模糊控制规则表

· 当偏差较大时，为了加快系统的响应速度，并防止开始时偏差的瞬间变大可能引起的微分过饱和而使控制作用超出许可范围，应取较大的KP和较小的KD。另外为防止积分饱和，避免系统响应较大的超调，KI值要小，一般取KI = 0。

· 当偏差和变化率为中等大小时，为了使系统响应的超调量减小和保证一定的响应速度，KP应取小些。

· 当偏差变化较小时，为了使系统具有较好的稳态性能，应增大KP、KI值，同时为避免输出响应在设定值附近振荡，以及考虑系统的抗干扰能力，应适当选取KD。原则是：当偏差变化率较小时，KD取大一些；当偏差变化率较大时，KD取较小的值，通常为中等大小。

4. Stewart并联机器人控制仿真

4.1. Stewart并联机器人的控制

4.2. Stewart并联机器人的模糊自适应控制仿真

(20)

5. 结论

Table 1. The value of proportion parameter

Table 2. The value of integral parameter

Figure 4. Fuzzy self-tuning PID controller

Figure 5. Simulation figure of Stewart parallel robot system with fuzzy self-tuning PID controller

Figure 6. Step response of Stewart parallel robot

(a) 比例参数的整定曲线(b) 积分参数的整定曲线

Figure 7. Parameter of Stewart parallel robot with fuzzy self-tuning PID controller

Simulation for Stewart Parallel Robot with Fuzzy Self-Tuning PID Controller Based on ADAMS and MATLAB[J]. 仪器与设备, 2015, 03(03): 63-71. http://dx.doi.org/10.12677/IaE.2015.33009

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