基于模糊PID的仿生机械云台系统研究（英文）

Bionic PTZ system research based on fuzzy PID controlling

构建仿生眼系统的核心是模拟人眼神经回路的功能,确立能实现类人眼控制的控制方法。本文在研究人眼神经回路的基础上,在前庭神经核处理接收到的各方信息部分采用模糊自适应PID控制,对于仿生眼运动控制部分,根据医学研究结果,确立合适的传递函数,在Matlab环境下通过仿真不断地调整PID的各项参数。最后将控制方法运用到真实的球面并联机构仿生眼系统中,可以看到系统有较好的抗颠簸性和鲁棒性,很好地符合了人眼控制的规律。

The core of building bionic eye system is to imitate the function of human eye neural circuit so as to design the corresponding control strategy. In this paper, fuzzy adaptive PID control method is adopted to realize the function similar to vestibular nucleus'. Besides, the transfer function of controlled object is established according to medical research so as to determine the variation range of PID parameters in MATLAB environment. In the end, this control strategy is applied to the real bionic eye system based on the spherical parallel mechanism and plenty of experiments are conducted which show quick-response performance and robustness of the control system that conforms to human eye motion control mechanism.