Research on Fuzzy PI Control of Six Degrees of Freedom Parallel Platform
In order to solve the problems of accuracy and fast response of the six degree of freedom parallel platform,the control algorithm of fuzzy adaptive PI control is adopted.On the basis of PID control,fuzzy algorithm is added to improve the control program.The kinematic model and mechanical system control model of the six degree of freedom parallel platform were established,and the fuzzy PI controller control block diagram was established using the Simulink module in Matlab and jointly simulated with the six degree of freedom parallel platform model imported into ADAMS.Conduct a simulation experiment on the motion of one of the telescopic rods.The simulation results show that compared with the traditional PID algorithm,the PI control with fuzzy algorithm improves the dynamic response speed of the system,reduces the overshoot by about 40%,and reduces the response time by about 31%.Compared with P control adding fuzzy algorithm,the system overshoot and response time are also reduced.
fuzzy PI controlsix degrees of freedom platformADAMSSimulink
万方数据
维普
