Using Fuzzy Switching to Achieve the Smooth Switching of Force and Position

Abstract

In order to achieve the switching function of the force and position, the force control is executed when the hydraulic cylinder contacts with the mechanical objects, the position control is executed when the hydraulic cylinder is far away from the mechanical objects. This paper respectively established force control model and position control model. The position control adopts the PID algorithm and the force control adopts the fuzzy algorithm. In order to solve the jump and jitter of the parameters when force-position switching, this paper puts forward a fuzzy switching adaptive control strategy. Fuzzy switching ensures the smooth transition of the two control models, the results of simulations show that fuzzy switching not only ensures the system’s rapidity but also shows excellent robustness against variations of system parameters and external disturbances.