Intelligent Control of a Four-rope-driven Level-adjustment Device with Constrained Outputs
This paper mainly concerns the intelligent control of a four-rope-driven level-adjustment device with constrained outputs. In the paper, an intelligent controller based on fuzzy systems is designed for the device to adjust eccentric payloads to level and keep the ropes tension balanced. The controller is composed of two sub-controllers, each of which deals with various situations by choosing different fuzzy rules. As the actuators adopted in the device can only move within a certain range, it is necessary to take their moving ranges into consideration. Actually, each control cycle includes two stages. At the first stage, the controller regulates the payloads diagonal joined with the constrained actuators. At the second stage, the controller adjusts the other diagonal. If the actuators joined with this diagonal are also constrained, the controller mainly regulates the payloads posture. Otherwise, the controller regulates the payloads angle as well as the ropes tension simultaneously. Finally, the intelligent controller is used to control the four-rope-driven level-adjustment device, and gets satisfying results.
Jianhong Zhang Jianqiang Yi Yi Yu
Institute of Automation,Chinese Academy of Sciences,Beijing,100190,China
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
1860-1865
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）