基于单神经元PID的机械手移动路径智能控制方法  

Intelligent Control Method of Manipulator Movement Path Based on Single Neuron PID

作　　者：胡亚维 HU Ya-wei(Xi'an Peihua University,Xi'an 710125 China)

机构地区：[1]西安培华学院,陕西西安710125

出　　处：《自动化技术与应用》2022年第8期5-7,17,共4页Techniques of Automation and Applications

基　　金：西安培华学院校级科研项目资助项目(PHKT2008)。

摘　　要：机械手内置的执行程序编队顺序混乱,导致智能控制方法输出转角过大,机械手运行时产生剧烈抖动。针对该问题,设计基于单神经元PID的机械手移动路径智能控制方法。将机械手中不同功能模块作为控制结构,搭建一个执行式的分层控制结构。将机械手产生的路径位置数值作为控制对象,利用单神经元PID构建路径控制器。模拟设定机械臂运动过程,编排所有输出函数为一个合理的顺序,实现对移动路径的智能控制。实验结果表明,所设计的智能控制方法输出转角数值与真实数值相差最小,机械手几乎不产生抖动。The order of the manipulator built-in execution program formation is confused,resulting in excessive output rotation angle of the intelligent control method and violent jitter during operation.Aiming at this problem,a single-neuron PID-based intelligent control method for manipulator movement path is designed.Different functional modules in the manipulator are used as control structures to build an executive-style hierarchical control structure.The path position values generated by the manipulator are used as the control object,and the path controller is constructed using a single neuron PID.Simulate the process of setting the robot arm movement and program all output functions into a reasonable order to achieve intelligent control of the movement path.The experimental results show that the designed intelligent control method has the smallest difference between the output turning angle value and the real value,and the manipulator almost does not produce jitter.

关 键 词：单神经元PID 机械手移动路径 智能控制 输出转角 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]