柔性连杆机器人PI和模糊PID监控控制器的设计与实现

2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE) Pub Date : 2016-07-01 DOI:10.1109/CCSSE.2016.7784396

Mahshid Pourebrahim, M. Ayati, M. Mahjoob

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引用次数: 4

摘要

为了提高柔性连杆机器人的轨迹跟踪性能，本文设计了PID控制器。首先，采用PI控制器，采用传统的齐格勒-尼科尔斯方法对控制器参数进行调整。此外，设计了模糊PID控制器，利用模糊规则根据误差的当前值及其一阶导数在线整定PID控制器参数。本文还研究了几种解模糊化方法对闭环系统的影响。实现了一种柔性连杆机器人，并应用了控制器。实验结果证实了模糊PID控制器的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and implementation of PI and fuzzy PID supervisory controllers for a flexible link robot

In this paper, PID controllers are designed to enhance the trajectory tracking performance of a flexible link robot. Firstly, a PI controller is used where conventional Ziegler-Nichols method adjusts the controller parameters. In addition, Fuzzy PID controller is designed in which fuzzy rules are utilized on-line to tune the PID controller parameters based on the current value of error and its first time-derivative. Also, effects of several defuzzification methods on the closed-loop system are investigated in this paper. A flexible link robot is implemented and controllers are applied. Experimental results confirm the performance of the fuzzy PID controller.

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2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE)

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