机械臂液压驱动系统设计与模糊免疫pid控制策略研究-电路与系统专业论文.docxVIP

统的设计、制造和控制具有较大的理论价值和现实意义。关键词：液压驱动系统，模糊免疫PID，高速开关阀，插装阀，机 统的设计、制造和控制具有较大的理论价值和现实意义。 关键词：液压驱动系统，模糊免疫PID，高速开关阀，插装阀，机 械臂 一 一 ABSTRACT With widespread applications of hydraulic driven system，its driven objects get more complex and people demand higher than ever on its performances．Integrated analysis on design theory and control mode of robot manipulators’hydraulic driven system at home and abroad have been made in detail，then a new robot manipulators’ hydraulic driven system based on high-speed on—off valve pilot control is proposed in this paper．The principle and structure of this new system are expounded and a mathematical model of the new hydraulic driven system is established．The new hydraulic driven system has been fully proven with its operating performances and the reliability．Compared with present commonly motor-driven system，the new hydraulic driven system presents some technical superiority at the response，the driving moment，and the load-carrying capacity etc．Aiming at the new hydraulic driven system，which is a strong non-linear,tight-coupling and time-varying system，author utilizes the strong robustness of fuzzy algorithm and the global optimization of the immune algorithm designed according to the human immune system．A new fuzzy immune PID control method is proposed，including its strict theoretical III deduction deduction and stability proof．The correctness of this control method has been confirmed through simulations and experiments on computer． According to the fuzzy immune PID control theory,a high performance fuzzy immune PID controller based on the single microcomputer control chip has been designed．Under the control of the fuzzy immune PID controller,the new hydraulic driven system has many new characteristics such as high—speed response，no overshoot；and strong adaptive ability and SO on． With all the achievements mentioned above，a holistic researching architecture of design and control method based on a robot manipulators’hydraulic driven system has