摘要
采用常规运动控制方法时机械臂关节角度误差较大,控制效果不佳,为此,设计一种基于模糊PID的核电厂多关节机械臂运动自适应控制方法。该方法先预处理机械臂的运动图像,然后以此为基础,获取多关节机械臂关节角度,以进一步了解机械臂的运动状态,最后建立机械臂运动隶属度函数,基于模糊PID调整自适应控制器的参数,优化核电厂多关节机械臂运动控制性能。结果表明,设计的多关节机械臂运动自适应控制方法对5种参数组合检测的机械臂关节角度误差均小于标准,其误差最高仅为0.16°,证明该方法对核电厂多关节机械臂运动自适应控制效果更好,具有一定应用价值。
When using conventional motion control methods,the joint angle error of the robotic arm is large and the control effect is poor.Therefore,a fuzzy PID based adaptive control method for multi-joint robotic arm motion in nuclear power plants is designed.This method first preprocesses the motion images of the robotic arm,and then based on this,obtains the joint angles of the multi-joint robotic arm to further understand the motion status of the robotic arm.Finally,a membership function for the motion of the robotic arm is established,and the parameters of the adaptive controller are adjusted based on fuzzy PID to optimize the motion control performance of the multi-joint robotic arm in nuclear power plants.The results show that the designed multi-joint robotic arm motion adaptive control method has a joint angle error of less than the standard for five parameter combinations detected,with the highest error being only 0.16°.This proves that the method has better adaptive control effect for multi joint robotic arms in nuclear power plants and has certain application value.
作者
王渊渊
WANG Yuanyuan(China Institute of Atomic Energy,Beijing 102413,China)
出处
《自动化应用》
2024年第10期82-84,88,共4页
Automation Application
关键词
模糊PID
核电厂
多关节
机械臂
fuzzy PID
nuclear power plants
multi-joint
robotic arm
