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计算机系统应用英文版:2013,22(12):188-191

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主从式带电作业机器人控制系统

黄晓萍¹, 鲁守银¹, 谈金东^1,2

(1.山东建筑大学信息与电气工程学院, 济南 250101;2.田纳西大学电子信息工程系, 美国 37996-3531)

Master-Slave Live Working Robot Control System

HUANG Xiao-Ping¹, LU Shou-Yin¹, TAN Jin-Dong^1,2

(1.School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China;2.University of Tennessee, Knoxville Tennessee TN 37996-3531, USA)

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本文已被：浏览 1248次下载 2565次
Received:May 15, 2013 Revised:June 17, 2013

中文摘要: 介绍一种液压驱动的带电作业机器人主从式控制系统. 首先简单说明整个系统的组成，系统采用液压驱动方式. 然后提出将带电作业机器人控制系统分为主、从控制系统，且主、从控制器都采用微处理器TMS320 F2812. 最后对控制系统的算法进行研究，提出一种模糊PID控制的闭环控制方案，并进行matlab仿真，结果证明这是一种有价值的控制方案.

中文关键词: 机器人液压驱动主从式模糊PID控制 matlab

Abstract:This paper introduces a master-slave control system of hydraulic driven live working robot. Start with a brief description of the whole system, and adopt hydraulic drive way. Then put forward the idea that divide the live working robot control system into master control system and slave control system, the two sub-control systems adopt microprocessor TMS320 F2812.Finally, study the algorithm of the control system and propose a closed-loop control scheme depending on the fuzzy PID. Then make simulation of the control system by matlab, and the results prove that this is a valuable control scheme.

keywords: robot hydraulic drive master-slave mode fuzzy PID control matlab

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基金项目:国家高技术研究发展计划（2012AA041506）

Author Name	Affiliation
HUANG Xiao-Ping	School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China
LU Shou-Yin	School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China
TAN Jin-Dong	School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China University of Tennessee, Knoxville Tennessee TN 37996-3531, USA

Author Name	Affiliation
HUANG Xiao-Ping	School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China
LU Shou-Yin	School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China
TAN Jin-Dong	School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China University of Tennessee, Knoxville Tennessee TN 37996-3531, USA

引用文本：
黄晓萍,鲁守银,谈金东.主从式带电作业机器人控制系统.计算机系统应用,2013,22(12):188-191
HUANG Xiao-Ping,LU Shou-Yin,TAN Jin-Dong.Master-Slave Live Working Robot Control System.COMPUTER SYSTEMS APPLICATIONS,2013,22(12):188-191