模糊PID在带电作业机器人液压系统中的研究

Research on fuzzy PID in hydraulic system of live working robot

随着我国智能电网的快速发展,逐步采用带电作业机器人代替人工完成日常维护和事故检修任务。但带电作业机器人存在着控制精度低和抖动问题,影响作业任务的完成质量和效率。为了解决该问题,设计了模糊PID控制器实现带电作业机器人输出位移精确控制。首先,分析带电作业机器人的结构与液压系统原理,建立液压系统主要元部件的数学模型,并推导出系统的传递函数模型;其次,基于模糊规则设计带电作业机器人输出位移的闭环模糊PID控制器;最后,在Simulink环境中建立原系统、PID、模糊PID不同控制方案的仿真模型进行仿真分析,并对样机进行实验测试。仿真结果表明:相较于原系统和PID控制系统,模糊PID控制系统的调节时间相对缩短了81.3%和30.8%,超调量降低0.064,达到了无超调,并具有较好的位置跟踪能力;此外样机实验数据结果与仿真结果相一致,表明采用模糊PID控制器应用效果更好。

With the rapid development of my country's smart grid,live robots are gradually being used to replace manual tasks for routine maintenance and accident repairs.However,there are problems of low control precision and jitter in live work robots,which affect the quality and efficiency of work tasks.In order to solve this problem,a fuzzy PID(proportion intergration differentiation)controller is designed to realize the precise control of the output displacement of the live working robot.Firstly,the structure of the live working robot and the principle of the hydraulic system are analyzed,the mathematical model of the main components of the hydraulic system is established,and the transfer function model of the system is deduced.Secondly,the closed-loop fuzzy PID controller of the output displacement of the live working robot is designed based on fuzzy rules.Finally,the simulation models of the original system,PID and fuzzy PID control schemes are established in the Simulink environment for simulation analysis,and he prototype is tested experimentally.The simulation results show that:compared with the original system and the PID control system,the adjustment time of the fuzzy PID control system is relatively shortened by 81.3%and 30.8%,and the overshoot is reduced by 0.064,achieving no overshoot and having better position tracking ability.In addition,.the experimental data results of the prototype are consistent with the simulation results,indicating that the fuzzy PID controller has better application effect.