一种机械臂模糊控制系统的设计与实现

Design and Implementation of a Fuzzy Control System for Robotic Arms

随着“中国制造2025”计划的推进,现代工业对机械臂控制的精确度提出了越来越高的要求。基于模糊PID理论,设计了一种基于模糊控制的模糊自适应机械臂控制系统。该系统建立了输入、输出变量的调整规则,利用系统测量值和期望值的差值得出修正参数,完成PID参数的校正。经过在MATLAB2019a上的仿真对比试验,当机械臂预设轨迹产生波动时,相较于传统PID控制算法,基于模糊控制的自适应机械臂控制系统使由电动舵机驱动的小型机械臂达到稳态的时间有了明显的缩短。

With the advancement of the"Made in China 2025"initiative,modern industry has put higher requirements on the accuracy of manipulator control.Based on fuzzy PID theory,a fuzzy adaptive manipulator control system based on fuzzy control is designed.The system establishes adjustment rules for input and output variables,and uses the difference between the measured value and the expected value of the system to obtain the correction parameters,and then completes the correction of PID parameters.Through the simulation and comparison test on Matlab2019A,when the preset trajectory of the manipulator is fluctuating,compared with the traditional PID control algorithm,the adaptive manipulator control system based on fuzzy control can largely shorten the time for the small manipulator driven by electric steering gear to reach a steady state.