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Parallel robot indirect self-adaptive fuzzy control parameter determining method

A self-adaptive fuzzy and self-adaptive control technology, applied in self-adaptive control, general control system, control/regulation system, etc., can solve problems such as inaccurate fuzzy control rules and reduced system control precision

Active Publication Date: 2017-03-22
CHANGAN UNIV
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Problems solved by technology

For pure fuzzy control, due to the influence of various uncertain factors such as nonlinearity, time-varying and random interference in the control process of parallel robots, the fuzzy control rules will be inaccurate and the accuracy of system control will be reduced.

Method used

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  • Parallel robot indirect self-adaptive fuzzy control parameter determining method
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  • Parallel robot indirect self-adaptive fuzzy control parameter determining method

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Embodiment Construction

[0080] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0081] An embodiment of the present invention provides a method for determining the indirect adaptive fuzzy control parameters of a parallel robot, wherein the indirect adaptive fuzzy control parameters of the parallel robot are the adaptive control rate of the control target of the parallel robot, such as figure 1 As shown, the method includes the following steps:

[0082] Step 1, establish the dynamic model of the parallel robot.

[0083] Aiming at the para...

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Abstract

The invention belongs to the technical field of parallel robot fuzzy control, and provides a parallel robot indirect self-adaptive fuzzy control parameter determining method. The method comprises the steps that a parallel robot dynamic model is established; a parallel robot control target is determined; a parallel robot fuzzy controller is determined according to the parallel robot dynamic model; and according to the parallel robot control target and the parallel robot fuzzy controller, the self-adaptive control rate of the control target is determined. The method can self-adaptively adjust the parameters of a fuzzy control system to acquire a given tracking error performance indicator to realize high quality control requirements.

Description

technical field [0001] The invention relates to the technical field of fuzzy control of parallel robots, in particular to a method for determining indirect self-adaptive fuzzy control parameters of parallel robots. Background technique [0002] Compared with series robots, parallel robots have greatly expanded the scope of application of robots due to their advantages such as high rigidity, compact structure, strong carrying capacity, high precision, and small motion inertia, such as in medical, machine tool, industry, aerospace, seabed, etc. It has a wide range of applications in fields such as homework, bioengineering, and service. But in fact, the complexity of the parallel robot and the highly nonlinear and strong coupling of its system itself, the manufacturing error in the manufacturing process and the external interference all make the research of parallel robot very complicated. Therefore, the high nonlinearity of the parallel robot robot system itself and a large n...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 惠记庄罗丽郭云欣杨永奎郑恒玉王其锋
Owner CHANGAN UNIV
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