摘要
针对常规的比例积分微分(PID)控制算法在机器人模块化关节轨迹跟踪控制系统中易于受到各种强干扰因素影响,提出了模糊自适应的方法,并且基于数字信号处理器(DSP)实现了PID参数的在线自整定.试验结果表明,模糊自适应的伺服控制方法同常规的增量式PID控制方法相比,可提高系统的动、静态特性和抗干扰能力.
In the robot modular joint trajectory tracking control system, traditional proportion-integralderivative （PID） algorithm is easy to be influenced by many kinds of disturbances. By using Fuzzy adaptive method, PID parameter online auto-tuning is realized based on the digital signal processor （DSP） control system. The experiment results demonstrate that the method of Fuzzy adaptive servo control scheme, compared with conventional PID algorithm, will improve system＇s properties and anti-disturbance abilities. Applications in modular joint servo control systems verify the effectiveness.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2007年第5期37-40,共4页
Journal of Beijing University of Posts and Telecommunications
基金
国家"863计划"项目(2005AA742050)
国家自然科学基金项目(E0510201)
关键词
比例积分微分
自适应模糊系统
模块化关节
轨迹跟踪
proportion-integral-derivative
adaptive fuzzy system
modular joint
trajectory tracking
