Design of Fuzzy-PI Compound Control System for Three-cylinder Hydraulic Parallel Robot

A novel type of computer distributed control system has been designed for one hydraulic parallel robot, which is based on CAN bus and DSP TMS320LF2407A, and uses PWM driving signal to improve the cold operation performance and low speed performance of the control system. In view of the existed non-linearity and uncertainty, a kind of fuzzy-PI compound controller which based on fuzzy switch has been adopted, so it makes smooth transition possible from one pattern of controller to another. Experiment shows that, the system has realized to the multi-freedom degree real-time control of the parallel robot, and improved the dynamical performance and control precision effectively.