基于正交优化的电动舵机机械手模糊PID伺服驱动系统仿真与实验分析

Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal Optimization

为了提高电动舵机机械手运动控制的准确性和稳定性,提出一种基于正交试验法的模糊PID智能控制方法。本文以电动舵机为执行元件,建立了捡拾机械手关节伺服驱动系统的数学模型。在传统的比例积分微分(proportion,integration,differentiation,PID)控制策略下,加入了正交试验设计和模糊控制的方法,在Simulink软件仿真环境中对电动舵机机械手关节驱动系统的开环控制、正交优化的PID控制和模糊PID控制进行仿真分析,并对单自由度和双自由度机械手进行运动控制实验。仿真与实验分析结果表明,利用正交试验法对PID参数进行整定,能快速的确定合适的PID参数,大大减小试验次数;利用模糊控制可以提高PID控制的适应能力,虽然使系统的上升时间和调整时间有少量增加,但是超调量明显减小,提高了系统的准确性和稳定性。

In order to improve the accuracy and stability of the motion control of the manipulator consisting of electric steering gear,a fuzzy PID intelligent control method based on orthogonal test method is proposed.In this paper,the electric steering gear is used as the actuator,and the mathematical model of the pick-up robot joint servo drive system is established.The orthogonal experimental design and fuzzy control method are added under the traditional PID(proportion,integration,differentiation)control strategy.In the Simulink software simulation environment,the open-loop control,orthogonal optimization PID control and fuzzy PID control of the manipulator joint drive system are simulated,and the motion control experiments of single-degree-of-freedom and double-degree-of-freedom manipulators are carried out.Simulation and experimental analysis show that the PID parameters can be adjusted by orthogonal test method,which can quickly determine the appropriate PID parameters and greatly reduce the number of trials.The fuzzy control can improve the adaptability of PID control,which can significantly reduce the overshoot of the system,slightly increase the rise time and the adjustment time of the system,and improve the accuracy and stability of the system.