救援机器人收纳系统电机的同步控制

Synchronous control of motor for rescue robot storage system

针对救援机器人收纳系统因负载扰动、机械结构误差等原因造成的不同步,从而对伤病员带来二次衍生伤害后果,提出在多电机主从控制方法的基础上,比较多种同步控制策略,并基于Matlab进行仿真实验.实验结果表明:同级电机之间采用基于模糊PID自整定的控制策略,而不同级电机之间采用基于PID的控制策略,从而使得多电机之间不仅具有良好的同步性能,而且对外部扰动表现出优良的鲁棒性.

Because of load disturbance and mechanical structure error and other reasons caused by non synchronization, the rescue robot storage system can bring secondary derivative damage consequences to the sick and wounded person. This paper put forward master slave control method of multi motors, and several kinds of synchronization control strategies are compared. The simulation experiments are carried out based on Matlab. According to the simulation results, the control strategy based on fuzzy PID self tuning control strategy is the optimal control strategy of the same level motors, and the control strategy based on PID is more suitable for different level motors. The result not only had satisfying synchronization performance, but also showed a good robustness against external disturbance.