[1]赵新华,王璞,陈晓红.投球机器人模糊PID控制[J].智能系统学报,2015,10(03):399-406.[doi:10.3969/j.issn.1673-4785.201404041]
 ZHAO Xinhua,WANG Pu,CHEN Xiaohong.Fuzzy PID control of pitching robots[J].CAAI Transactions on Intelligent Systems,2015,10(03):399-406.[doi:10.3969/j.issn.1673-4785.201404041]
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第10卷
期数:
2015年03期
页码:
399-406
栏目:
出版日期:
2015-06-25

文章信息/Info

Title:
Fuzzy PID control of pitching robots
作者:
赵新华1 王璞1 陈晓红2
1. 哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001;
2. 哈尔滨船舶锅炉涡轮机研究所, 黑龙江 哈尔滨 150036
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
关键词:
机器人投球机器人PID模糊PID动力学模型约束矩阵轨迹跟踪
Keywords:
robotpitching robotPIDfuzzy PIDdynamics modelconstraint matrixtrajectory tracking
分类号:
TP18
DOI:
10.3969/j.issn.1673-4785.201404041
文献标志码:
A
摘要:
针对智能投球机器人在轨迹跟踪过程中存在响应慢、跟踪精度低的问题,采用PID控制和模糊PID控制2种控制方法提高系统的响应速度及控制精度.对二连杆投球机器人进行了详细的运动学建模,建立了机械臂的动力学模型,联立得约束矩阵方程;然后分别选用PID控制和模糊PID控制对二连杆投球机器人运动轨迹进行控制.在MATLAB环境下利用SimMechanics对系统数学模型和2种控制方案进行仿真,数值实验结果表明,模糊PID控制具有更好的控制效果.
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.

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备注/Memo

备注/Memo:
收稿日期:2014-4-22;改回日期:。
基金项目:黑龙江省博士后科研启动基金资助项目(3236310224).
作者简介:赵新华,女,1980年生,讲师,主要研究方向为超空泡航行体、AUV的动力学及智能控制方法.发表学术论文10余篇.王璞,男,1994年生,主要研究方向为机器人智能控制.
通讯作者:赵新华. E-mail: zhaoxinhua@hrbeu.edu.cn.
更新日期/Last Update: 2015-07-15