STUDY ON FUZZY PID WITH GENETIC ALGORITHM OPTIMIZATION CONTROL STRATEGY OF FORCE FEEDBACK BILATERAL SERVO SYSTEM

摘要

Tele-operated bilateral hydraulic servo system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radialization, battlefield, etc.). In this paper, it mainly researches control arithmetic of a novel force feedback bilateral master-slave servo system composed of electro-hydraulic servo systems. In a tele-operated master-slave control system, the master plays as a reference input device to the slave as well as a force feedback device. Conventionally, the force sense was obtained from size of the force which prevented joy stick moving. But in such systems, the feedback impact force is too big and the track characteristic of displacement becomes very poor. A novel control arithmetic is presented which regards the difference between the master's manipulative force (by magnifying ) and the slave's resistance as command signal for driving the slave's servo valve; simultaneity, the difference between the slave's displacement and the master's displacement is fed back for driving movement of the master following the slave freely. In this paper, Fuzzy PD control strategy is adapted. In order to obtain real time track control to system and improve dynamic and static characteristic of system, three control parameters of PD are optimized by Genetic Algorithm (GA). Experimental results are shown that the "force sense " is produced on the joy stick and the operator is able to feel sensitively the reaction forces. Secondly, the novel control strategy and optimization fuzzy PD arithmetic has good track precision and improves master-slave track characteristic of displacement and force feedback characteristic. At the same time, it has rather strong self-adaptability and anti-jamming capability.