Simulation and experimental control of a 3-RPR parallel robot using optimal fuzzy controller and fast on/off solenoid valves based on the PWM wave

被引：43
作者：
Moezi, Seyed Alireza [1 ]
Rafeeyan, Mansour [2 ]
Zakeri, Ehsan [1 ]
Zare, Amin [1 ]
机构：
[1] Islamic Azad Univ, Shiraz Branch, Young Researchers & Elite Club, Shiraz, Iran
[2] Yazd Univ, Dept Mech Engn, Yazd, Iran
来源：
ISA TRANSACTIONS | 2016年 / 61卷
关键词：
3-RPR planar parallel robot; On/off solenoid valves; PWM wave; Optimal fuzzy controller; Modified Cuckoo Optimization Algorithm; CRACK DETECTION; OPTIMIZATION; ALGORITHMS;
D O I：
10.1016/j.isatra.2015.12.005
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a robust optimal fuzzy controller based on the Pulse Width Modulation (PWM) technique is proposed to control a laboratory parallel robot using inexpensive on/off solenoid valves. The controller coefficients are determined using Modified Cuckoo Optimization Algorithm. The objective function of this method is considered such that the results show the position tracking by the robot with less force and more efficiency. Regarding the results of experimental tests, the control strategy with on/off valves indicates good performance such that the maximum value of RMS of error for a circular path with increasing force on the system is 3.1mm. Furthermore, the results show the superiority of the optimal fuzzy controller compared with optimal PID controller in tracking paths with different conditions and uncertainties. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.
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收藏
页码：265 / 286
页数：22
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