Fractional order PID controller of five-degree-of-freedom robot

A controller and fractional-order technology, which is applied to the design of fractional-order PID controllers for five-degree-of-freedom robots, can solve problems such as personal loss, and achieve the effects of improving reliability and control accuracy.

Inactive Publication Date: 2016-10-26
YUNNAN UNIV
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Problems solved by technology

Faults and failures of robotic system

Method used

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  • Fractional order PID controller of five-degree-of-freedom robot
  • Fractional order PID controller of five-degree-of-freedom robot
  • Fractional order PID controller of five-degree-of-freedom robot

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] For an underlying system of a five-DOF robot, the transfer function is:

[0029] (8)

[0030] With the controller design software of MATLAB, the integer-order PID controller can be designed as follows:

[0031] (9)

[0032] The three parameters Kp=14, Ki=0.16 and Kd=1.4 of the integer-order PID controller are obtained. On the basis of these three parameters, construct such as figure 1 Shown is a Simulink block diagram that includes a fractional order. The upper part of the figure is the ITAE criterion, and the lower right part is the control system and the controlled system. Let the order of the two scores change from 0.1 to 0.9 respectively, and dozens of corresponding curves can be obtained correspondingly, such as figure 2 shown. Choose the optimal set of parameter values ​​from: with , that is, the order of two fractional o...

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Abstract

The invention provides a high-accuracy fractional order PID controller for a five-degree-of-freedom robot. The key point of the fractional order PID controller is the setting and selection of five parameters, at first, according to the existing integer-order PID controller, the appropriate fractional order is selected, and according to the needs of an actual system, the other three parameters are determined based on the known parameters, and at the end, the fractional order PID controller is compared with the integer-order PID controller, the accuracy of the fractional order controller is displayed. The fractional order PID controller is reasonable in design and novel in conception, can improve the accuracy of the five-degree-of-freedom robot, guarantees the reliability of the robot, and is particularly applicable to the design of medical and civil robots.

Description

technical field [0001] The invention relates to the field of robot control, in particular to the design of a five-degree-of-freedom robot fractional-order PID controller. Background technique [0002] From industrial robots developed in the middle of the 20th century to drones, robots have penetrated into various industries such as military, medical, education, and daily life. Robotics is a hot direction along with the development of computers. It is a machine that realizes various functions by its own power and control ability. It is a comprehensive system that integrates environmental perception, positioning, and control decision-making. It mainly involves many disciplines such as mechanics, electronics, computers, and automatic control. It is a research hotspot in academic and industrial circles at home and abroad. In the project guidelines released by NSF in 2012, it responded to President Obama’s speech at Carnegie Mellon University, clearly pointing out that human-ma...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 赵春娜
Owner YUNNAN UNIV
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