基于自适应控制的乒乓球陪练机器人的系统研究与设计  

Research and design of table tennis training robot system based on adaptive control

作　　者：郭琴[1] 陈国龙 黄耿生[1] 刘娟 GUO Qin;CHEN Guolong;HUANG Gengsheng(Guangdong Administrative Vocational College,Guangzhou,Guangdong 510800,China;Guangdong Communication Polytechnic,Guangzhou,Guangdong,510650,China)

机构地区：[1]广东行政职业学院,广州510800 [2]广东交通职业技术学院,广州510650 [3]不详

出　　处：《自动化与仪器仪表》2023年第7期205-209,共5页Automation & Instrumentation

基　　金：2021年度教育部人文社会科学研究规划基金的研究成果《疫情背景下高校大学生主动健康促进管理机制构建研究》(21YJA890032)。

摘　　要：为提高乒乓球陪练机器人的拾球性能,将模糊理论与PID控制技术相融合,并将融合后的模糊PID算法应用于陪练机器人的收集模块中,以此来提高机器人拾球的准确性。将模糊PID算法与MFAC算法以及子空间算法进行性能对比实验,结果显示,基于模糊PID算法的机器人的跟踪误差为0.08,显著低于MFAC算法以及子空间算法的跟踪误差。该结果说明,模糊PID算法的性能优于另外两种算法,将模糊PID算法融入乒乓球陪练机器人中可以有效地提高机器人的拾球效率,从而更好地达到陪练效果。To improve the ball picking performance of the table tennis training robot,the fuzzy theory and PID control technology are combined,and the fused fuzzy PID algorithm is applied to the collection module of the training robot to improve the accuracy of the robot ball picking.Comparing the performance of fuzzy PID algorithm with MFAC algorithm and subspace algorithm,the results show that the tracking error of robot based on fuzzy PID algorithm is 0.08,which is significantly lower than that of MFAC algorithm and subspace algorithm.The results show that the performance of the fuzzy PID algorithm is better than the other two algorithms.The fuzzy PID algorithm can effectively improve the picking efficiency of the robot in the table tennis training robot,so as to better achieve the training effect.

关 键 词：模糊理论 PID控制技术 乒乓球陪练机器人 目标追踪系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]