Motion control method for a series manipulator driving system based on orthogonal fuzzy PID
A driving system and motion control technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as deviating from the best steady state, unable to meet the stability control of high-precision control industrial servo drive systems, and achieve fewer tests , Eliminate the shock process and improve the accuracy
Inactive Publication Date: 2019-06-28
TIANJIN UNIVERSITY OF TECHNOLOGY
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[0004] On the other hand, the traditional PID control will deviate from the optimal steady state due to small changes in the external environment, and cannot meet the complex high-precision control and stability control of industrial servo drive systems
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[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.
[0039]Aiming at the control of the electric steering gear of the joint drive system of the picking robot, the present invention proposes an intelligent control method based on orthogonal-fuzzy PID servo drive, establishes a mathematical model of the electric steering gear, and analyzes the stability of its closed-loop system; Orthogonal optimization and fuzzy control methods are added to the PID control. Orthogonal optimization can reduce the adjustment times of PID parameters, and fuzzy control can improve the adaptability of PID control. The over-damping system avoids the under-damping oscillation process near the steady state; simulation and experiment verify the effectiveness of the control method proposed by the present invention.
[0040] A kind of intelligent control m...
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The invention discloses a motion control method for a series manipulator driving system based on an orthogonal fuzzy PID. The method is characterized by establishing a mathematical model of an electric steering engine, obtaining a closed-loop transfer function of the driving system of the electric steering engine, and controlling an output angle of the electric steering engine based on the closed-loop transfer function. The method specifically comprises the steps that according to an overshoot and an adjustment time of the driving system, the parameters of kp, ki and kd are determined by an orthogonal test; angular deviation e(t), angular deviation rate of change de(t) or dt and delta kp, delta ki, and delta kd for adjusting the parameters of a PID controller are correspondingly convertedto a quantization level in the fuzzy universe of discourse; the angular deviation e(t) and the angular deviation rate of change de(t) or dt are input into the fuzzy controller, and the fuzzy controller outputs the delta kp, the delta ki, and the delta kd for adjusting the parameters of the PID controller; three parameters of kp', ki', and kd' are formed by the fuzzy PID controller to obtain a stable output angle, and accordingy the drive system is controlled, specifically, kp' is equal to kp+delta kp, ki' is equal to ki+delta ki, and kd'is equal to kd+delta kd.
Description
technical field [0001] The invention relates to the field of automatic control of industrialized robots, in particular to a motion control method of a serial manipulator drive system based on orthogonal fuzzy PID. Background technique [0002] Due to the rapid development of the modern service industry, service robots need to meet the characteristics of fast response, high precision, and good motion stability. To meet these conditions, it must be optimally controlled. Since PID control is one of the earliest developed control strategies, it is widely used in industrial control because of its simple algorithm and good robustness. But it also has many defects such as difficult to determine parameters, unable to meet complex high-precision control occasions, and reduced adaptability in time-varying systems. [0003] In the industrial servo drive system, the setting of PID parameters usually cannot reach the global optimal solution, but the method of orthogonal experiment can o...
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IPC IPC(8): B25J9/16
Inventor 刘振忠周海波陈睿张建军张好鑫周顺马世泰于恒彬
Owner TIANJIN UNIVERSITY OF TECHNOLOGY