【摘要】 针对传统PID控制机械臂在运动中存在跟踪精度低、响应速度慢、动态性能差等问题,提出采用自适应模糊PID控制。通过用Sim Mechanics搭建二自由度机械臂模型,分别运用传统的PID控制和自适应模糊PID控制方案进行仿真并比较上述两种方案控制效果。仿真结果表明,所设计的自适应模糊PID控制器相比传统的PID控制器对控制机械臂运动有更好的控制效果。更多还原

【Abstract】 As for the low control accuracy, slow response and poor dynamic performance in the movement of traditional PIDcontrolled mechanic arm, self-tuning fuzzy-PID control is proposed. By using Sim Mechanics to build a simulation system with two degrees of freedom manipulator, the traditional PID control and the self-tuning fuzzy-PID control are simulated respectively. The two effects of the above are compared by simulation. The simulation results show that the self-tuning fuzzy-PID controller has better control effect than that of the traditional PID controller.更多还原