多电机机器人模糊PID控制仿真研究  

Simulation of fuzzy-PID control for multi-motor robot

作　　者：杨小庆[1] 赵振华[2] YANG Xiaoqing;ZHAO Zhenhua(Institute of Intelligent Manufacturing and Automobile,Chongqing Technology and Business Institute,Chongqing 400052,China;School of Electrical Information,Wuhan Institute of Technology,Wuhan 430073,Hubei,China)

机构地区：[1]重庆工商职业学院智能制造与汽车学院,重庆400052 [2]武汉工程大学电气信息学院,湖北武汉430073

出　　处：《中国工程机械学报》2020年第3期248-252,共5页Chinese Journal of Construction Machinery

基　　金：重庆市教委科学技术研究计划资助项目(KJQN201904006)。

摘　　要：机器人在复杂环境中运动时,其关节角位移跟踪容易受到外界波形干扰,导致角位移跟踪误差较大,造成控制系统稳定性下降。对此,建立三关节机器人简图模型,给出了机器人动力学方程式,采用多电机并行驱动机器人关节角位移运动;采用模糊规则建立模糊PID控制器,利用模糊论域在线调节PID控制参数,保持控制系统的稳定性。采用Matlab软件对多电机机器人模糊PID控制效果进行仿真,结果显示:在大扰动环境中,采用模糊PID控制器,可以提高机器人关节角位移跟踪精度,保持多电机驱动机器人关节运动的稳定性。When a robot moves in a complex environment,its joint angular displacement tracking is susceptible to external waveform interference,which leads to large angular displacement tracking error,resulting in a decline in the stability of the control system.To solve this problem,a sketch model of three-joint robot is established,and the dynamic equation of the robot is given.The joint angular displacement motion of the robot is driven by multi-motor in parallel.The fuzzy rules are used to establish the fuzzy PID controller.The parameters of the PID control system are adjusted online by using the fuzzy universe to maintain the stability of the control system.The effect of fuzzy PID control for multi-motor robot is simulated by using Matlab software.The results show that in large disturbance environment,fuzzy-PID controller can improve the tracking accuracy of joint angular displacement and keep the stability of joint motion of multi-motor-driven robot.

关 键 词：多电机 机器人 模糊PID控制 角位移 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]