Adaptive Fuzzy Control for Adjusting of Plumb Attitude of Upper Air Manipulator Frame Suspended by Steel Ropes

This paper discussed the attitude control problem of a manipulator frame which is suspended by 2 ropes hitched on its both sides. The dynamic disturbance, which induced by manipulator changing its arm status or by the arm´s load varying, will results in the frame swing. To adjust the attitude of the frame and keep it in plumb, a dynamic adjusting mechanism is introduced, and the control model of the mechanism, which employ the adaptive FLC (fuzzy logic control), is discussed. The FLC algorithm is concise and robust, and can avoid the difficulties caused by uncertain parameters and the nonlinear characteristic of the adjusting mechanism. The simulation results of the control model show that the adaptive FLC is feasible and satisfied for this object´s attitude control.