Fuzzy Control of Pneumatic Robot Position Servo System By Electro-Pneumatic On-Off Valve

摘要

Since the fuzzy logic controller has a property which doesn't need the accurate mathematical model of the control system, and is insensitive to the nonlinearities of the control syste, so in this paper, a fuzzy logic controller is used to replace the conventional PID contrller or Model Reference Adaptive Controller (MRAC) to control the position of pneumatic robot, the experiment result is satisfying. By introducing the fuzzy compensating controller. By introducing the fuzzy compensating controller with parameter self-optimizing, the dyanmic response of the cylidner has been improved. The experimental results show that the proposed controller is insensitive to the system parameter variation, nonlinearities and friction force, and can improve the static and dynamic characteristics of the system effectively.