现代制造工程Issue(3)：36-40,5.DOI:10.16731/j.cnki.1671-3133.2018.03.007
考虑非线性关节摩擦SCARA机器人模糊PID控制
Fuzzy PID control of SCARA robot considering nonlinear joint friction
摘要
Abstract
To improve the response speed and anti-jamming ability of the SCARA rotot when moving rapidly.Based on the tradi-tional PID servo controller,the fussy control theory was used to design the servo control as a fuzzy-PID controller.The fuzzy PID controller was studied with simulation on the MATLAB platform.The performance indexes and the anti-jamming abilities were an-alysed and compared between the two controllers.The results showed that,under the effect of step signal,two kinds of controllers could better accomplish signal tracking,while the overshoot of fuzzy PID controller was smaller than PID controller.When consid-ering the effect of periodic excitation,PID controller would occur oscillation,while fuzzy PID could still maintain a better signal tracking;In the process of five times polynomial trajectory tracking,two kinds of controllers could effectively accomplish.When considering the effect of nonlinear joint friction,PID controller trajectory tracking was offseting,but fuzzy controller actual trajecto-ry can still maintain to be consistent with the expected trajectory.关键词
MATLAB软件/模糊PID控制/关节摩擦Key words
MATLAB software/fuzzy PID control/joint friction分类
信息技术与安全科学引用本文复制引用
王俊,马梁,于洋洋,张俊红..考虑非线性关节摩擦SCARA机器人模糊PID控制[J].现代制造工程,2018,(3):36-40,5.基金项目
国家重点研发计划项目(2016YFD0700701) （2016YFD0700701）
