[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(3):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(3):399-406.[doi:10.3969/j.issn.1673-4785.201404041]
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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]
投球机器人模糊PID控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
10
期数:
2015年第3期
页码:
399-406
栏目:
学术论文—智能系统
出版日期:
2015-06-25
- Title:
- Fuzzy PID control of pitching robots
- Keywords:
- robot; pitching robot; PID; fuzzy PID; dynamics model; constraint matrix; trajectory tracking
- 分类号:
- TP18
- 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
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