[1]ZHAO Xinhua,WANG Pu,CHEN Xiaohong.Fuzzy PID control of pitching robots[J].CAAI Transactions on Intelligent Systems,2015,10(3):399-406.[doi:10.3969/j.issn.1673-4785.201404041]
Copy

Fuzzy PID control of pitching robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 3 Page number: 399-406 Column: 学术论文—智能系统 Public date: 2015-06-25
Title:
Fuzzy PID control of pitching robots
Author(s):
ZHAO Xinhua1;  WANG Pu1;  CHEN Xiaohong2
1. College of Automation, Harbin Engineering University, Harbin 150001, China;
2. Harbin Marine Boiler and Turbine Research Institute, Harbin 150036, China
Keywords:
robot; pitching robot; PID; fuzzy PID; dynamics model; constraint matrix; trajectory tracking
CLC:
TP18
DOI:
10.3969/j.issn.1673-4785.201404041
Abstract:
The PID and fuzzy PID controls were exploited to improve the control performance of the system for solving the problems of the slow response and low accuracy in the trajectory tracking of the pitching robot. Kinematics modeling of a dual-arm pitching robot was built. The dynamic model of the robotic arm was established and the constraint matrix equation was obtained by simultaneous equations. The PID and fuzzy PID controls were selected to control the trajectory of the dual-arm pitching robot. The mathematical model of the system was simulated using SimMechanics and the comparison of the two kinds of control schemes was completed using MATLAB. The numerical simulation results showed that the fuzzy PID control has a better effect.
References:
[1] 范永, 谭民. 机器人控制器的现状及展望[J]. 机器人, 1999(1): 75-80.FAN Yong, TAN Min. Current state and tendencies in the development of robot controller[J]. Robot, 1999(1): 75-80.
[2] 张锐, 吴成东. 机器人智能控制研究进展[J]. 沈阳建筑工程学院学报:自然科学版, 2003, 11(1): 61-65.ZHANG Rui, WU Chengdong. Some recent progress in robotic intelligent control[J]. Journal of Shenyang Architectural and Civil Engineering Institute, 2003, 11(1): 61-65.
[3] 蔡自兴, 陈海燕, 魏世勇. 智能控制工程研究的进展[J]. 控制工程, 2003, 10(1): 15-20.CAI Zixing, CHEN Haiyan, WEI Shiyong. Recent advances in research of intelligent control engineering[J]. Control Engineering of China, 2003, 10(1): 15-20.
[4] 贾玉赞. 浅议智能机器人发展及应用[J]. 太原科技, 2003, 5(3): 20-26.JIA Yuzan. Development of intellectual robot and its application[J]. Taiyuan Science and Technology, 2003, 5(3): 20-26.
[5] 吴向阳, 戴先中, 孟正大. 分布式机器人控制器体系结构的研究[J]. 东南大学学报:自然科学版, 2003, 33(Supl.): 200-204.WU Xiangyang, DAI Xianzhong, MENG Zhengda. Research on distributed architecture of robot controller[J]. Journal of Southeast University: Natural Science Edition, 2003, 33(Supl.): 200-204.
[6] 谭宝成, 程智远, 牟云霞, 等. 移动机器人模糊控制系统的设计[J]. 西安工业大学学报, 2007, 27(4): 366-370.TAN Baocheng, CHENG Zhiyuan, MOU Yunxia, et al. Design of mobile robot control system based on fuzzy control[J]. Journal of Xi’an Technological University, 2007, 27(4): 366-370.
[7] 李庆中, 顾伟康, 叶秀清, 等. 移动机器人模糊控制方法研究[J]. 仪器仪表学报, 2002, 23(5): 480-484.LI Qingzhong, GU Weikang, YE Xiuqing, et al. Study on fuzzy control method for mobile robots[J]. Chinese Journal of Scientific Instrument, 2002, 23(5): 480-484.
[8] 李余庆, 刘继忠, 张华. 模糊控制在机器人超生避障系统的应用[J]. 机器人技术, 2009, 25(52): 216-218.LI Yuqing, LIU Jizhong, ZHANG Hua. Application of fuzzy control in ultrasound obstacle avoidance system for robot[J]. Robot Technology, 2009, 25(52): 216-218.
[9] 樊晓平, 徐建闽. 柔性机器人的动力学建模及其仿真[J].控制理论与应用, 1997, 5(6): 60-69.FAN Xiaoping, XU Jianmin. Dynamic modeling and simulation of flexible robotic manipulators[J]. Control Theory and Applications, 1997, 5(6): 60-69.
[10] 田永利, 邹慧君, 郭为忠, 等. 基于Matlab-Sim Mechanics的机电产品组成建模与仿真技术研究[J]. 机械设计与研究, 2002, 19(12): 10-12.TIAN Yongli, ZOU Huijun, GUO Weizhong, et al. Study on modeling and simulation methods for constitution objects of mechatronic products based on Matlab-Sim Mechanics[J]. Machine Design and Research, 2002, 19(12): 10-12.
[11] 陆佑方, 冯冠民, 齐朝晖. 柔性机械臂动力学与控制建模的若干基本问题[J]. 机器人, 1993, 15(2): 52-59.LU Youfang, FENG Guanmin, QI Zhaohui. Application of artificial neural networks in dynamic identification and position control of robot manipulators[J]. Robot, 1993, 15(2): 52-59.
[12] 吴宏鑫, 沈少萍. PID控制应用与理论依据[J]. 控制工程, 2003, 37(1): 6-10.WU Hongxin, SHEN Shaoping. Basis of theory and applications on PID control[J]. Control Engineering of China, 2003, 37(1): 6-10.
[13] 陆磊. 模糊控制在轮式机器人上的应用[J]. 微型电脑应用, 2010, 26(12): 31-33.LU Lei. Application of fuzzy-PID controller in moble robot[J]. Microcomputer Applications, 2010, 26(12): 31-33.
[14] 阎绍泽, 刘又午, 张铁民. 柔性机械臂动力特性的实验研究[J]. 河北工业大学学报, 1996, 25(11): 12-16.YAN Shaoze, LIU Youwu, ZHANG Tiemin. Experimental study on dynamic performances of flexible manipulators[J]. Journal of Hebei University of Technology, 1996, 25(11): 12-16.
[15] 孙奎, 谢宗武, 刘宏. 一种新的机器人动力学仿真分析方法[J]. 机械设计与制造, 2008, 5(9): 163-165.SUN Kui, XIE Zongwu, LIU Hong. The dynamics simulation analysis of a four DOF manipulator [J]. Machinery Design & Manufacture, 2008, 5(9): 163-165.
[16] The Mathworks Inc. SimMechanics user’s guide[M]. Natick, USA: The Mathworks Inc., 2002: 22-27.
[17] 苗敬利. 模糊控制和传统PID控制的仿真研究[J]. 微软计算机信息, 2003, 4(7): 18-24.MIAO Jingli. The simulation study between fuzzy control and PID control[J]. Microcomputer Information, 2003, 4(7): 18-24.
Similar References:

Memo

-

Last Update: 2015-07-15

Copyright © CAAI Transactions on Intelligent Systems