Fuzzy Control And Its Application In Shot-Concrete Robot

In this paper, a self-tuning Fuzzy-PID controller is developed through the research of PID controller parameters self-tuning method. The principle of PID control and Fuzzy control is described including their basic theory, developing history, trend and PID control parameters tuning methods. A self-tuning Fuzzy-PID controller based on fuzzy inferences is designed by joining the advantages of first one to the second one. A model of fuzzy rules is built based on the operator's experiences, and then, it is changed into an inquiry form. According to system's real responding situation, fuzzy reasoning and decision are used to regulate PID controller's parameters on-line. Neither identification nor exactly mathematical model of controlled object is needed. It only needs to measure the controlled system's desired output and real output and compute the difference, then get the result of self-tuning factor by fuzzy inference and decision.After attaining the self-tuning factor, we can tune all PID controller parameters in real time by the self-tuning tables.It is obvious that this method is simple and feasible.Then, the article introduces the actuality and development of Shot-concrete robot, the machine structure, principle of work of shot-concrete robot, the design of control sysmem and builds the model of system.Finally, aiming at the Fuzzy-PID control, using the Simulink and the Fuzzy tool boxes in the MATLAB, the paper carried out the imitation of true research, the true research result shows the fuzzy controller of PID at the front of the control process has the advantage of fuzzy controller, but at the last of the control process it has the advantage of the modulator of PID again.So the Fuzzy-PID control has the good dynamic state and the static state characteristics, it is a kind of control project with good function and easy realization.