Fuzzy PID Control of Electromagnetic Harmonic Movable Tooth Drive System

Abstract

In order to realize the control of electromechanical integrated electromagnetic harmonic movable tooth drive system, this paper studies the functional relationship between the input current and the flexible gear deformation, and analyzes the force of the movable tooth based on the assumption of elastic deformation and deformation coordination of flexible gear; the relationship model between input current and output torque is obtained by fitting the parameters of the experimental prototype through MATLAB fitting method. Because the electromagnetic harmonic movable tooth drive system is a nonlinear system and there are errors in mathematical modeling, In view of the poor adaptive ability of traditional PID to nonlinear system control, fuzzy PI and PI controller are built by combining fuzzy algorithm with PID control algorithm. The system is simulated by Simulink module in MATLAB. The results show that compared with traditional PID control strategy, fuzzy PID control strategy has small overshoot, good stability and good dynamic response characteristics It provides a theoretical basis for further optimizing the control strategy and torque control output of this drive system.