Abstract: For the bionic elbow joint compoundly driven by SMA-motor with the characteristics of nonlinear, time varying and temperature hysteretic, the fuzzy control algorithm based on double inputs and four outputs was proposed and the fuzzy PID adaptive control model was established. The motion states of the composite driven bionic elbow were solved in the step response and the theoretical trajectory, and then the position and the angular velocity tracking graphs of the rotating and pitching motion of the elbow joint were obtained. Experimental results show that the design of dual-input and quadri-output adaptive fuzzy PID control has the characteristics of small overshoot, high system robustness and fast response speed, which can achieve the accurate position control of bionic elbow compoundly driven by SMA-motor.

Key words: mechanical and electrical engineering, compound driving, bionic elbow joint, fuzzy PID adaptive control

摘要： 针对SMA-电机复合驱动仿生肘关节控制非 线性、时变、温度滞后等特点，提出了一种双输入-四输出的模糊控制算法，建立模糊PID自适应控制模型，求解复合驱动仿生肘关节在阶跃响应及理论轨迹下的动作状态，得到了仿生肘关节 旋转和俯仰运动的位姿、角速度跟踪图谱。实验证明：设计的双输入-四输出的模糊PID自适应控制算法具有超调量小、系统鲁棒性高、响应速度快的特点，可以实现SMA-电机复合驱动仿生肘 关节的精准位姿控制。

关键词: 机电工程, 复合驱动, 仿生肘关节, 模糊PID自适应控制