[1]DU Mingfang,FANG Jianjun,LIANG Lanzhen.Design of a parameter selftuning fuzzyPID controller of a library robot manipulator[J].CAAI Transactions on Intelligent Systems,2012,7(2):161-166.
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Design of a parameter selftuning fuzzyPID controller of a library robot manipulator

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 7 Number of periods: 2012 2 Page number: 161-166 Column: 学术论文—智能系统 Public date: 2012-04-25
Title:
Design of a parameter selftuning fuzzyPID controller of a library robot manipulator
Author(s):
DU Mingfang1; 2;  FANG Jianjun1;  LIANG Lanzhen1
1.College of Automation, Beijing Union University, Beijing 100101, China;
2. College of Automation, Beijing Institute of Technology, Beijing 100081, China
Keywords:
fuzzyPID controller;  PC/104;  pneumatic manipulator;  library robot;  parameter selftuning
CLC:
TP273
DOI:
-
Abstract:
An embedded controller for the pneumatic manipulator of a library robot was designed using the PC/104 boards system. The parameters of a selftuning fuzzyPID controller algorithm were the emphasis of the design. According to the valuation table of membership and the fuzzy logic rules of the fuzzy subsets, the modified parameters were drawn by searching the fuzzy matrix table; thus the parameters’ online selftuning of the fuzzyPID algorithm was finished. The intelligent control of the pneumatic manipulator of a library robot was realized by programming using Microsoft eMbedded Visual C+〖KG-*1/2〗+ (EVC). The algorithm flow diagram of the control software and the key method were given. The simulation was finished by inputting some typical signals such as the phase step and sine signal. The experimental result shows that the pneumatic manipulator of a library robot can quickly trace the target value and keep a satisfactory stability with nearly no errors. The designed method put forward in this paper has a generic application relationship to similar fields.
References:
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