杆驱工业机械臂双缸RBF优化模糊PID同步控制研究  

Research on Closed-Loop Improved RBF/Fuzzy PID Synchronous Control of Rod Drive Industrial Robot Arm

作　　者：杨光[1] 路晓云[2] Yang Guang;Lu Xiaoyun(Institute of Intelligent Manufacturing,Xinxiang Vocational and Technical College,Xinxiang Henan 453000,China;College of Numerical Control Technology,Xinxiang Vocational and Technical College,Xinxiang Henan 453000,China)

机构地区：[1]新乡职业技术学院智能制造学院,河南新乡453000 [2]新乡职业技术学院数控技术学院,河南新乡453000

出　　处：《现代工业经济和信息化》2024年第9期113-114,119,共3页Modern Industrial Economy and Informationization

摘　　要：为了提高杆驱工业机械臂双液压缸同步控制精度,设计了一种RBF优化模糊PID控制方法,并在Simulink平台完成性能仿真。研究结果表明:速度信号发生了先加速,之后进入稳定速度,最后再减速。低速下,以RBF优化模糊PID控制的双液压缸最大同步误差约为0.08 mm,稳定状态下的误差约为0.01 mm;高速下,以RBF优化模糊PID控制的双液压缸最大同步误差降低至0.11 mm,在稳定状态下的误差减小为0.02 mm。该研究有助于提供工业机器人控制精度,提高双臂协作效率。In order to improve the synchronization control accuracy of two cylinders of industrial robot arm driven by connecting rod,an improved RBF/fuzzy PID control scheme was designed,and the simulation test was completed by Simulink.The results show that the speed signal first accelerates,then stabilizes,and finally decelerates.At low speed,the maximum synchronization error of the two cylinders with the improved RBF/fuzzy PID control is only 0.08mm,and the error is 0.0022 mm in the stable state.At high speed,the maximum synchronization error of the two cylinders is reduced to 0.11mm with the improved RBF/fuzzy PID control,and the error is reduced to 0.02mm in the stable state.

关 键 词：双液压缸同步 RBF优化模糊PID控制 精度 误差调节 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]