摘要
机械手臂的诞生具有解放生产力的现实意义,机械手臂转角控制格外重要,因而,采用PID控制设计机械手臂转角自动控制器。所设计的自动控制器具有四个自由度,由PLC、步进电机和SH-215B步进电机驱动器组成,步进电机驱动器从PLC中接收转角命令,转角命令中蕴含的定位信息由步进电机中BCE58K20增量式光电编码器给出,进而控制机械手臂转角动作。PLC在使用普通PID控制下,积分控制环极易超调,采用模糊技术将普通PID控制模糊化,借助分离技术降低积分超调对机械手臂动作的影响,提出模糊分离PID控制。实验结果表明,与采用其他控制策略的自动控制器相比,采用模糊分离PID控制的自动控制器自由度更加灵活。
The birth of the mechanical arm has a practical significance for liberation of the productive force, and its turn- ing angle control is particularly important. Therefore, the PID control is adopted to design the automatic controller for mechani- cal arm turning angle. The designed automatic controller has four degrees of freedom, and is composed of PLC, stepper motor and SH-215B stepper motor drives. The stepper motor drive receives the turning angle command from PLC. The command con- tains the positioning information provided by BCE58K20 incremental photoelectric encoder in the stepper motor to control the me- chanical arm angle action. PLC is easy to result in overshoot of the integral control loop under the common PID control, so fuzzy technology is used to make the common PID control fuzzy, and the separation technology is employed to reduce the influence of integral overshoot on mechanical arm movement. The fuzzy separation PID control is put forward. The experimental results show that, compared with automatic controller with other control strategies, the automatic controller with fuzzy separation PID control is more flexible in the degrees of freedom.
出处
《现代电子技术》
北大核心
2017年第18期107-109,113,共4页
Modern Electronics Technique
基金
聊城大学东昌学院课题(2015SK014)
关键词
机械手臂
转角
PID控制
自动控制器
步进电机
mechanical arm
turning angle
PID control
automatic controller
stepping motor
