基于改进PID的核算机器人机械臂控制研究  

Research on robotic arm control of accounting robot based on improved PID

作　　者：罗艳妮[1] 郭亚红 LUO Yanni;GUO Yahong(School of Accounting,Xi’an Eurasia Universiy,Xi’an 710065,China)

机构地区：[1]西安欧亚学院,西安710065

出　　处：《自动化与仪器仪表》2023年第5期212-215,共4页Automation & Instrumentation

基　　金：陕西高校青年创新团队“基于大数据技术的金融科技与智能财务融合创新团队”子课题;陕西省教育科学“十三五”规划2020年度课题《数字化转型背景下创新型“财务智能”人才培养模式研究》(SGH20Y1489)。

摘　　要：针对机器人机械臂的控制研究,提出一种基于改进PID的核算控制系统进行设计,即结合BP神经网络的PID闭环运动控制系统。首先,提出了PID核算机器人机械臂整体的控制思路,其次,阐述了BP神经网络PID闭环运动控制系统的控制原理以及神经网络,然后,对机器人机械臂运动控制部分整体的框架进行设计;之后,通过仿真平台,分别对BP神经网络PID运动控制算法以及闭环运动控制系统进行测试验证,结果表明BP神经网络PID闭环运动控制系统的响应速度更快,且具有更高的稳定性;最后,分别采用两种控制系统对实验机械臂进行控制实验,对比结果表明,BP神经网络PID闭环运动控制系统对获取目标物的时间更短更迅速,且成功率高达95%。Aiming at the control research of robot manipulator,this paper proposes an accounting control system based on improved PID,that is,a PID closed-loop motion control system combined with BP neural network.Firstly,the control idea of the whole robot manipulator with PID accounting is proposed.Secondly,the control principle and neural network of the BP neural network PID closed-loop motion control system are described.Then,the overall framework of the robot manipulator motion control part is designed;Then,through the simulation platform,the BP neural network PID motion control algorithm and the closed-loop motion control system are tested and verified respectively.The results show that the BP neural network PID closed-loop motion control system has faster response speed and higher stability;Finally,two control systems are used to control the experimental manipulator respectively.The comparison results show that the BP neural network PID closed loop motion control system has shorter and faster time to obtain the target,and the success rate is as high as 95%.

关 键 词：机器人机械臂 BP神经网络 PID控制算法 PID闭环控制系统 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]