基于模糊PID的电气试验机器人作业角度自动控制方法  

Automatic Angle Control Method of Electrical Test Robot Based on Fuzzy PID

作　　者：侯超众 HOU Chaozhong(College of Electrical Technology,Anhui Vocational College of Defense Technology,Lu’an 237011,Anhui Province)

机构地区：[1]安徽国防科技职业学院电气技术学院,安徽六安237011

出　　处：《沈阳工程学院学报（自然科学版）》2024年第4期55-60,共6页Journal of Shenyang Institute of Engineering:Natural Science

基　　金：安徽省特色高水平专业项目(2022tsgsp013);安徽省重点质量工程项目(2022jxzyk011);安徽省课程思政示范课程项目(gf2022szsfkc01)。

摘　　要：电气试验机器人因其复杂的多关节、多自由度结构,在作业角度自动控制上常受系统扰动影响,导致控制误差明显。因此,提出基于模糊PID的自动控制方法。首先,为电气试验机器人的机械臂建立基坐标系,并为其末端工具建立三维坐标系,通过计算各关节的运动旋量,确定机器人的运动位姿和作业角度;其次,设计模糊PID控制器,将模糊控制规则与PID控制结合,得到调整值并进行校正。实验结果表明:所提方法对机器人作业角度的自动控制效果显著,轨迹跟踪精确,控制误差小,具有良好的适用性。Due to its complex multi joint and multi degree of freedom structure,electrical testing robots are often affected by system disturbances in automatic control of work angles that should result in significant control errors.Therefore,a fuzzy PID based automatic control method is proposed.Firstly,a base coordinate system is established for the mechanical arm of the electrical testing robot,and a three-dimensional coordinate system is established for its end tools.By calculating the motion spinors of each joint,the robot's motion pose and operating angle are determined.Subsequently,a fuzzy PID controller is designed,combining the fuzzy control rules with PID control to obtain the adjusted values and perform calibration.The experimental results show that the proposed method has a significant effect on automatic control of robot operation angles,accurate trajectory tracking,small control errors,and good applicability.

关 键 词：模糊PID控制 电气试验机器人 作业角度控制 运动位姿 机械臂 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]