基于模糊PID的单连杆旋转机器人鲁棒控制  

Robust Control System of Planar Single-Bar Rotating Robot Based on Fuzzy PID

作　　者：卢勇威[1] 黄良永[2,3] LU Yong-wei HUANG Liang-yong(Guangxi Vocational ＆ Technical College, Nanning 530227, China Guangxi Science ＆ Technology Normal University, Laibin 546199, China Wuhan University of Technology, Wuhan 410082, China)

机构地区：[1]广西职业技术学院,南宁530227 [2]广西科技师范学院,来宾546199 [3]武汉理工大学,武汉410082

出　　处：《微特电机》2017年第10期53-56,61,共5页Small & Special Electrical Machines

基　　金：国家自然科学基金项目(61462008);广西高校重点实验室项目:非线性控制系统与智能计算(桂教科研201723)

摘　　要：针对由无刷直流电动机驱动的单连杆机器人的鲁棒控制问题,采用一种基于参数自整定模糊比例积分微分(PID)控制器用以控制系统。以机械臂的位置误差和误差变化量作为输入,通过模糊PID位置控制器输出参考电流值。将参考电流值与实际电流值进行比较,通过模糊PID电流控制器输出选通脉冲信号的占空比。驱动器根据占空比来控制电动机转速,以此实现机械臂位置控制。仿真和实验结果表明,该控制系统能够精确地控制机械臂转动,且对重力引起的转矩变化具有较好的鲁棒性。According to the robust control of a single-bar robot driven by brushless DC motor, a control system basedon parameters auto-tuning fuzzy proportional integral derivative （PID） controller is proposed. The position error and the er-ror variation of the manipulator were taken as input, and the reference current value was output through the fuzzy PID posi-tion controller. The reference current value and the actual current value was compared, through the fuzzy PID current con-troller output strobe signal duty cycle. The motor driver controls the motor speed according to the duty cycle, realized therobot arm position control. Simulation and experimental results show that the proposed control system can precisely controlthe rotation of the manipulator, and it has good robustness to the torque variation caused by gravity.

关 键 词：无刷直流电动机 单连杆旋转机器人 参数自整定模糊PID 鲁棒控制 

分 类 号：TM33[电气工程—电机]