采用改进模糊PID控制的串联机械手追踪误差研究  

RESEARCH ON TRACKING ERROR OF SERIES MANIPULATOR USING IMPROVED FUZZY-PID CONTROL

作　　者：叶丹[1] 王东林 YE Dan;WANG Dong-lin(School of Mechanical and Electrical Engineering, Anhui Wenda School of Information Engineering, Hefei Anhui 230012,China;Sany Heavy Machinery Co., Ltd,Kunshan, Jiangsu 215300,China)

机构地区：[1]安徽文达信息工程学院机电工程学院,安徽合肥230012 [2]三一重机有限公司,江苏昆山215300

出　　处：《井冈山大学学报（自然科学版）》2019年第3期72-75,共4页Journal of Jinggangshan University (Natural Science)

基　　金：安徽省教学研究重点项目(2016jyxm0460);安徽省高校科学研究重点项目(KJ2017A650);安徽省高校科学研究重点项目(KJ2018A0614);安徽文达信息工程学院校级重点项目(XZR2017A03)

摘　　要：针对串联机械手运动角位移跟踪误差较大问题,提出了改进模糊PID控制方法。创建串联机械手简图模型,给出机械手动力学方程式,设计了模糊PID控制系统。引用粒子群算法并对其进行改进,采用改进粒子群算法优化模糊PID控制器,将改进模糊PID控制器用于控制串联机械手角位移变化。采用Matlab软件对串联机械手角位移跟踪误差进行仿真验证,并且与传统PID控制器和模糊PID控制器仿真结果形成对比。仿真结果显示,串联机械手采用PID控制器和模糊PID控制器,其角位移跟踪误差较大,而采用改进模糊PID控制器,角位移跟踪误差较小。串联机械手采用改进模糊PID控制器,可以提高控制系统的稳定性,削弱机械手的抖动现象。Aiming at the problem of large tracking error of angular displacement of serial manipulator, an improved fuzzy PID control method is proposed. A sketch model of the serial manipulator is created, a dynamic equation of the manipulator is given, and a fuzzy PID control system is designed. Particle swarm optimization (PSO) is used to optimize the fuzzy-PID controller. The improved fuzzy-PID controller is used to control the angular displacement change of serial manipulator. The angular displacement tracking error of serial manipulator is simulated and validated by using MATLAB software, and the simulation results are compared with those of traditional PID controller and fuzzy PID controller. The simulation results show that the angular displacement tracking error of the serial manipulator using the PID controller and the fuzzy PID controller is larger, while the angular displacement tracking error of the serial manipulator using the improved fuzzy PID controller is smaller. The improved fuzzy-PID controller can improve the stability of the control system and weaken the jitter of the manipulator.

关 键 词：机械手 模糊PID控制 改进粒子群算法 角位移 误差 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]