拟人机器人上肢多关节控制参数整定

Control parameters for upper limb articulationes of personification robot

为了得到拟人机器人上肢关节控制电机的精确参数,通过建立直流电机的物理和数学模型,利用Matlab软件建模和仿真,找到了一个合适的PID控制方法,通过调节KP,KI,KD参数,系统获得了较高的控制精度和响应速度,几乎能够完全抵抗外部干扰,该仿真对拟人机器人手部控制节点的设计具有很重要的指导作用,对于一般的直流电机闭环控制也有一定的借鉴意义。

In order to get the accurate parameters of upper limb joint control motor in humanoid robot,the physical and mathematical model of DC motor was established with Matlab software,and a suitable control method of PID was found.By adjusting the parameters of Kp,Ki and Kd,the system obtained a higher control precision and response speed.It can almost completely resist the external disturbance.The simulation has a very important function in guiding of humanoid robot hand control node design,and a certain reference significance for common DC motor closed-loop control.