Applied Research On Control Method Fusion Of Mechanical And Electronical System

In the face of control problem of complex mechanical & electronical system, which is of time-varying, strong coupling and uncertainty, any single control method can not achieve famous performance. On the background ,This thesis using date fusion for reference, puts forward a control strategy which syncretizes several different control methods complementary on their control performance to achieve famous performance by exert every method's strongpoint. I select PID and fuzzy logic control which are different and complementary on dynamic and static performance, to do fusion research by 2R robot. Aim at validating the feasibility and validity of the control methods fusion.In this thesis, I built the mathematical model of 2R robot firstly, and designed the robot follow track PID control system. It could eliminate effectively the system static error. Then analysed and introduced detailedly the theory of fuzzy logic control, and applied it to robot follow track control. It did not depend on the exact mathematical model and could solve effectively the influence of nonlinear and uncertainty. After that, introducing weight gene, syncretized PID and fuzzy control's outputs by adding weight. At last, the result of fusion was output to object controlled. PID fuzzy fusion control not only exerted the PID's strongpoint of good static performance and ability of eliminating static error, but also was of fuzzy logic control's fast respondence that could reduce the following error fast.This research broke the close structure of existing robot controller and developed a normative general robot controller of open structure and modularization. It utilized the PMAC's ability of high speed calculation and the good opening of IPC. The PID fuzzy fusion control in this thesis did experimental research on the controller. The experimental results indicated that the PID fuzzy fusion control could get good effect in robot end position control.