计算机应用研究2018，Vol.35Issue(2)：471-474,482,5.DOI:10.3969/j.issn.1001-3695.2018.02.032
基于导管机器人的变论域模糊PID控制研究
Research on variable universe fuzzy PID control based on catheter robot
摘要
Abstract
In minimally invasive vascular interventional surgery,when the operator gives a desired position by the main hand,the robot is required to control the catheter to quickly and stably and accurately reach the target position.However,due to the delay of the motor response and the complex environmental factors,the traditional fuzzy PID control can not meet the requirements of fast,accurate and robust for the catheter robot.Through the modeling of the pipe,the robot kinematics,the operation coordinate space transformation analysis,this paper used variable universe fuzzy PID control,and simulated it on MATLAB.The simulation results show that the fuzzy PID controller can improve the catheter robot response speed,positioning accuracy and stability,then it provides a good theoretical basis for the control of the vascular interventional robot.关键词
介入手术/导管机器人/变论域/模糊PIDKey words
interventional operation/catheter robot/variable universe/fuzzy PID分类
信息技术与安全科学引用本文复制引用
陈果,刘金根,韩世鹏..基于导管机器人的变论域模糊PID控制研究[J].计算机应用研究,2018,35(2):471-474,482,5.基金项目
国家“863”计划资助项目(2015AA043203) （2015AA043203）
