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[1]杜明芳,方建军,梁岚珍.图书馆机器人机械手参数自整定模糊PID控制器设计[J].智能系统学报,2012,7(2):161-166.
　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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图书馆机器人机械手参数自整定模糊PID控制器设计

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 7 期数: 2012年第2期页码: 161-166 栏目: 学术论文—智能系统出版日期: 2012-04-25

Title:: Design of a parameter selftuning fuzzyPID controller of a library robot manipulator

文章编号:: 1673-4785(2012)02-0161-06

作者:: 杜明芳^1，2, 方建军¹, 梁岚珍¹; 1.北京联合大学自动化学院，北京 100101；
2. 北京理工大学自动化学院，北京 100081

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

关键词:: 模糊PID; PC/104; 气动机械手; 图书馆机器人; 控制器

Keywords:: fuzzyPID controller; PC/104; pneumatic manipulator; library robot; parameter selftuning

分类号:: TP273

文献标志码:: A

摘要:: 采用PC/104系列板卡设计了一款嵌入式图书馆机器人气动机械手控制器，对机械手的参数自整定模糊PID控制算法进行了重点探讨，根据模糊子集的隶属度赋值表和模糊逻辑规则，查模糊矩阵表得出修正参数，完成对PID 参数的在线自校正.用Microsoft eMbedded Visual C+〖KG-*1/2〗+（EVC）编程实现了图书取放气动机械手的智能控制，给出了控制软件算法流程及关键部分实现方法.用阶跃、正弦等典型输入信号做系统仿真，实验结果表明气动机械手能够快速、稳定、几乎无误差地跟踪系统给定值. 所提出的系统设计方法对类似领域具有普遍适用性.

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.

参考文献/References:: ［1］SUTHAKOM J. A robotic library system for an offsite shelving facility［C］//2002 IEEE International Conference on Robotics & Automation. ［S.l.］,Washington. USA, America, 2002: 201203.
［2］YUAN K H, HONG A C, ANG M, et al. Unmanned library: an intelligent robotic books retrieval & return system utilizing RFID tags［C］//2002 IEEE International Conference on Systems, Man and Cybernetics. London, UK, 2002: 5055. 
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［5］张毅，罗元，郑太雄，等. 移动机器人技术及其应用［M］. 北京：电子工业出版社， 2007： 100105. 
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WANG Zongyi, LI Yandong, LIU Tao, et al. Dynamic control of mobile robots based on an adaptive fuzzy sliding mode［J］. Journal of Harbin Engineering University, 2011, 32(6): 793796.
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备注/Memo

收稿日期： 2011-12-08.
网络出版日期： 2012-04-12.
基金项目：北京市属高等学校人才强教计划资助项目（PHR201107149）;中青年骨干教师计划资助项目（PHR201008318）
通信作者：杜明芳. E-mail：zdhtmingfang@buu.edu.cn.
作者简介：
杜明芳，女，1976年生，博士研究生，主要研究方向为军用机器人、服务机器人，发表学术论文20余篇，其中9篇被EI检索.
方建军，男，1970年生，教授，主要研究方向为机器视觉、服务机器人，发表学术论文50余篇，其中20余篇被SCI、EI检索.出版著作13部、译著1部.
梁岚珍，女，1957年生，教授，主要研究方向为智能控制与嵌入式系统，发表学术论文30余篇，其中10余篇被EI检索.

更新日期/Last Update: 2012-07-12

图书馆机器人机械手参数自整定模糊PID控制器设计 PDF下载HTML

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图书馆机器人机械手参数自整定模糊PID控制器设计

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