A parameter self-tuning fuzzy-PID control system for pneumatic manipulator of library robot

摘要

An embedded controller for the pneumatic manipulator of library robot is designed using PC/104 boards system. The parameter self-tuning fuzzy-PID algorithm of the controller is the emphasis of the design. According to the valuation table of membership and the fuzzy logic rules, the modified parameters are drawn by searching the fuzzy matrix table, and the parameters' online self-tuning of the fuzzy-PID algorithm is finished. The intelligent control of the pneumatic manipulator of library robot is realized by programming using Microsoft eMbedded Visual C++ (EVC). The algorithm flow diagram of the control software and the key method are given. The simulation is finished by inputting some typical signals such as step and sine signal. The experiment result illustrates that the pneumatic manipulator of library robot can quickly trace the target value and keep a satisfied stability and a nearly zero error. The designed method put forward in this paper has a generic application meaning to similar fields.