摘要
针对移栽机械手因外界因素干扰而容易出现输出精度低的问题,提出了一种基于模糊PID控制策略的移栽机械手控制方法。首先,在移栽机械手控制系统模型的基础上,结合模糊控制理论与PID控制理论的分析方法,提出了一种新型的移栽机械手控制方法。通过MATLAB/Simulink软件对仿真分析了移栽机械手的控制过程,比较了常规PID控制和模糊PID控制对移栽机械手控制系统的控制效果。结果表明,通过调节PID参数,所提控制方法相对于传统PID控制,其输出的阶跃响应稳定信号时间提高了56%,该模糊PID控制克服了机械手控制系统的非线性和控制精度低的缺点,提高了控制系统的稳定性能。
Aiming at the problem of low output precision of transplanting manipulator due to the interference of external factors,a control method of transplanting manipulator based on Fuzzy PID control strategy is proposed.Firstly,based on the control sys-tem model of transplanting manipulator,a new control method of transplanting manipulator is proposed by combining fuzzy con-trol theory with PID control theory.The control process of transplanting manipulator is simulated and analyzed by Matlab/Simu-link software,and the control effect of conventional PID control and fuzzy PID control on transplanting manipulator control sys-tem is compared.The results show that by adjusting the PID parameters,the output step response time of the proposed control method is increased by 56%compared with the traditional PID control.The fuzzy PID control overcomes the shortcomings of non-linearity and low control precision of the manipulator control system,and improves the stability of the control system.
作者
陆海峰
王业统
黄福伟
苏明
LU Hai-feng;WANG Ye-tong;HUANG Fu-wei;SU Ming(School of Information Engineering,Hainan Vocational University of Science and Technology,Hainan Haikou 571126,China;School of Computer Science and Cyberspace Security,Hainan University,Haikou Hainan 570228,China)
出处
《机械设计与制造》
北大核心
2024年第4期331-336,共6页
Machinery Design & Manufacture
基金
海南省重点研发计划项目—全自动农业移栽机器人的研发(ZDYF2019028)。
关键词
模糊PID
移栽机械手
控制系统
农业机械
Fuzzy PID
Seeding Manipulator
Control System
Agricultural Machinery
