Fuzzy adaptive PID control on hydraulic servo system of quadruped robot

被引：2
|
作者：
李杰 [1 ]
罗庆生 [1 ]
王雷 [1 ]
常青 [2 ]
机构：
[1] School of Mechatronical Engineering,Beijing Institute of Technology
[2] School of Mechanical Engineering,Beijing Institute of Technology
来源：
Journal of Beijing Institute of Technology | 2013年 / 22卷 / 04期
关键词：
quadruped robot; hydraulic model; fuzzy PID control; adaptive control; Matlab/Simulink;
D O I：
10.15918/j.jbit1004-0579.2013.04.008
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
Quadruped robot driven by high power density hydraulic device works in unstructured environment.With variable load and various external disturbance,the hydraulic servo system has features such as nonlinear,time-varying parameters.Traditional control method has some limitation.In order to help the hydraulic servo system of the quadruped robot to adapt to harsh environments,and to obtain high control quality and control precision,an incremental fuzzy adaptive PID controller based on position feedback is designed to solve the related technical problems.Matlab/Simulink simulation and experimental results show that the incremental fuzzy adaptive PID controller improves the dynamic performance of the system,enhances the respond speed and precision of the hydraulic servo system,and has some theory significance and practical value.
引用
收藏
页码：447 / 453
页数：7
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