基于PID的柔性关节机械臂控制策略研究

Flexible joint manipulators control strategy based on PID control

以柔性关节机械臂作为研究对象,分别使用传统PID控制和基于神经网络的PID控制进行对比研究,并在Simulink中进行仿真实验.结果表明,神经网络PID控制相比于传统PID控制参数调整更为简单,响应速度和控制精度都得到了提高,跟踪误差减少了50%,能够达到更好的控制效果.

A flexible manipulator is analyzed and simulated with SIMULINK using traditional PID control and PID control based on neural network.The simulation results illustrate that PID control based on neural network has more advantages than traditional PID control.PID control based on neural network has improved response speed and control accuracy and the parameter adjustments turn easier.It also reduced the tracking error of 50% and achieved a good control effect.