基于模糊PID对3-RPS并联机器人轨迹跟踪控制

Trajectory Tracking Control of 3-RPS Parallel Robot Based on Fuzzy PID

并联机器人因具有刚度大、承载能力强、精度高等优点,被广泛应用于各个领域,但由于它是一个多输入多输出系统,存在严重的非线性性,因此对其进行控制研究显得尤为重要.通过设定3-RPS型并联机器人动平台的期望参考值,根据逆运动学,基于Matlab SimMechanics软件建模仿真求得各支路驱动副的期望位移.设计PID控制器、模糊PID控制器,对3-RPS型并联机器人进行轨迹跟踪控制仿真对比分析,结果表明:采用模糊PID控制可有效降低轨迹跟踪误差,提高系统的控制精度和稳定性.

The parallel robot is widely used in various fields because of its stiffness,high load capacity,and high precision and so on,but parallel robot is a multi-input multi-output system,there is a serious non-linear,so the research of parallel robot＇s control is particularly important.According to the inverse kinematics and Matlab SimMechanics software,this paper is obtained the expectations of each branch driver vice displacement by setting the desired reference value of 3-RPS parallel robot＇s moving platform.he trajectory tracking control of 3-RPS parallel robot based on design of PID controller,fuzzy PID controller is simulated and comparative analyzed.The results showed that：compared to the PID control,the fuzzy PID control effectively reduce the trajectory tracking error,and improve the control accuracy and stability of the system.