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3TPS/TP型并联机器人本身所具有的强耦合性、非线性和多变量等特点导致其无法建立精确的数学模型,进而使得传统的比例积分微分(Proportion Integration Differentiation,PID)控制算法难以得到较好的应用。文章将模糊控制算法和传统的PID控制算法相结合,得到模糊PID控制算法并应用于3TPS/TP型并联机器人控制系统的伺服电机中。仿真结果表明,模糊PID控制算法在控制精度、稳定性以及适应性方面都优于PID算法,控制效果符合预期要求。
The characteristics of 3TPS / TP parallel robots such as strong coupling, nonlinearity and multivariable make it impossible to build accurate mathematical models and make the traditional PID control algorithm difficult to get better Applications. The article combines the fuzzy control algorithm and the traditional PID control algorithm to get the fuzzy PID control algorithm and applies it to the servo motor of 3TPS / TP parallel robot control system. Simulation results show that the fuzzy PID control algorithm is superior to PID algorithm in control accuracy, stability and adaptability, and the control effect meets the expected requirements.