3-RPC型并联机器人模糊PID控制系统研究  

Study of Fuzzy PID Control System of 3-RPC Parallel Manipulator

作　　者：朱大昌[1] 刘运鸿 冯文结 

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《机械传动》2014年第2期114-117,共4页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51165009);江西省自然科学基金项目(20114BAB206008)

摘　　要：基于SolidWorks和Matlab软件关联接口技术,将3-RPC型并联机器人SolidWorks三维模型转换为SimMechanics机构仿真分析模型,并分别进行传统PID和模糊PID控制系统设计。通过系统仿真实验与计算结果对比,得出模糊PID控制在并联机器人控制精度方面优于传统PID控制,且具有良好的系统稳定性。Based on association-interface technology of SolidWorks and Matlab software, the three-di- mensional model of 3-RPC type Parallel Manipulator which build in Solidworks software is converted to the mechanism simulation model in SimMechanics software, and then the control system of conventional PID and fuzzy PID are design respectively. By comparing simulation experiment with calculation result, it is shows that the control precision of fuzzy PID control system is superior to the conventional PID control system, and the proposed fuzzy PID control system has a nice system stability.

关 键 词：3-RPC型并联机器人 PID控制 模糊PID控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]