摘要
基于模糊控制理论设计了机械臂PID控制算法,并通过Simulink进行了仿真分析。结果表明,就连杆1而言,在采用机械臂PID模糊控制算法时,响应时间缩短到了0.30 s,达到稳态的时间具体为2.30 s;就连杆2而言,在采用机械臂PID模糊控制算法时,响应时间缩短到了0.33 s,达到稳态的时间具体为0.95 s;相对于既有PID算法,响应时间与达到稳态的时间都实现了显著优化。
Based on fuzzy control theory,the PID control algorithm of the manipulator is designed and analyzed by Simulink.The results show that,for link 1,the response time is reduced to 0.30 s and the steady-state time is reduced to 2.30 s when PID fuzzy control algorithm is adopted.For link 2,the response time is reduced to 0.33 s and the steady-state time is 0.95 s when PID fuzzy control algorithm is adopted.Compared with the existing PID algorithm,the response time and the time to reach the steady state are significantly optimized.
作者
郑美茹
ZHENG Meiru(Department of Railway Equipment Manufacture,Shaanxi Railway Institute,Weinan 714000,China)
出处
《工业加热》
CAS
2021年第9期41-44,共4页
Industrial Heating
关键词
模糊控制理论
机械臂
PID
控制算法
fuzzy control theory
mechanical arm
PID
control algorithm
