变型控制策略在机械手调速PID参数整定中的研究与仿真

Simulation and Research on Strategy of Variant Control in Manipulator Speed Regulation by PID Parameter Tuning

变型设计极大地提高了产品设计效率,将变型设计引入到控制中提出了变型控制策略的概念和原理,给出了机械手调速控制的数学模型和PID参数整定控制策略。用MATLAB编程仿真了机械手中调速PID的变型参数整定,并用SIMULINK对整定后的PID参数控制机械手调速进行了仿真验证,表明变型后能够更快速的寻找到控制的最优解,使控制过程具有更好的动态性能和稳定特性。最后将整定的参数用在机械手实际控制中,证明了变型控制策略在机械手调速PID参数整定中的有效性。

The variant design greatly improves the efficiency of the product design,the concept and the principle of the variant control strategy are proposed according to the variant design is introduced into the control,the mathematical model and PID parameter tuning control strategy of the manipulator speed control are given.The variable parameter setting of the speed regulation PID in manipulator is simulated with MATLAB,and then the simulation parameters are verified by SIMULINK,it shows that the optimal solution of the control can be found by the variant more quickly,so that the control process has better dynamic performance and stability characteristics.Finally,the tuning parameters are used in the actual control of the manipulator to prove the effectiveness of the variability control strategy in the PID tuning of the manipulator.