Applying the Fuzzy PID Strategy for Master/Slave Manipulators Remote Position Control

• Main Authors: Hui-Ming Lu, 盧慧明
• Other Authors: Chin-I Huang
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/15548670029911117957

碩士 === 國立高雄第一科技大學 === 系統資訊與控制研究所 === 101 === In recent years, fuzzy PID (Fuzzy PID) control has been substantial research and application development and integration in the areas of daily life, such as: air condition-ers, washing machines and other electrical products with our lives. However, most of the industrial sector or the use of PID control to control the machine, making this design Fuzzy PID control and the advantages and disadvantages of the traditional PID control to do comparison. This paper presents the user operates Phantom Omni machines, decisions by Fuzzy PID control Novint Falcon machines, network connectivity via UDP packets transmitted location information to achieve real stability control effect. However controlled ma-chine Novint Falcon body and no mathematical model to describe the controlled system, using PID control design its parameters need to spend more time to make adjustments; while using Fuzzy PID in an unknown machine parameters, the experts and the opera-tion through by adjusting those rules of thumb, the input to the fuzzy rules, operating under a different user, you can instantly stability control machine. However, different Fuzzy PID control of decision-making will result in different results, How to pick the best decision-making membership functions control the Novint Falcon, through data analysis and chart determine is the focus of this paper.