一种用于修磨的机器人的PID控制法

PID Control of Robot Serving for Steel Grinding/Conditioning

为磨平钢坯细微缝隙的修磨机器人(SGR)提出了一种PID控制法。这种控制法利用前馈力矩作为总体补偿和一个反馈力矩校正轨线跟踪误差,其优点在于它的积分作用消除了机器人的稳态跟踪误差。最后,给出了SGR机器人的计算机仿真结果,验证了此控制法的有效性。

A PID control process is proposed to apply to an SGR robot serving for grinding/conditioning the semifinished surfaces of steel blanks to take off the cracks.The process takes a feedforward torque as the gross compensation and use a feedback gain to correct the follow-up errors along the desired path. An advantage is that with its integral control function the steady errors in follow-up can be eliminated. Effectiveness of the control process has been verified in computer simulation with the simulation results.