基于Arduino的机器人系统控制方法分析及应用

Analysis on the control method of robot control system based on Arduino

利用PD独立关节控制原理,研究机器人控制系统建模及控制方法。通过建立输入θd(s)与输出θ(s)的传递函数,分析PID独立关节控制系统的稳态误差、超调量、调节时间等动态性能,并进行MATLAB仿真,结果表明,因受外部扰动信号的影响,系统的实际值与期望值有一定的误差。研究了利用PID控制机械臂的方法,通过计算证明使用该方法可使PID独立关节控制系统稳态误差为零。将该方法应用到Arduino控制的机械臂,通过分析控制系统的反馈值,确定了Arduino控制舵机的旋转角度。实验表明,PID控制方法可有效提高机器人独立关节运动的准确性。

Based on PD control principle,it analyzes the modeling and performance of robot control system. It establishes the transfer function of the input and output,analyzes the dynamic performance such as steady-state error,overshoot,settling time,etc,and simulates the model in MATLAB. The result shows that the actual value of the system has some error with the expected value. It presents the PID control algorithms for robot arm,obtains the optimal system performance based on the feedback value of control system,and determines the rotation angle of steering gear with Arduino. Experiment validates the accuracy of motion of robot separate joint controlled by PID algorithms.