基于积分分离式 PID 的三连杆机械臂传动控制方法

提出基于积分分离式 PID 的三连杆机械臂传动控制方法。将三连杆机械臂看作一个机械系统,构建动力学模型,拆解分析模型中每个元素。将三连杆机械臂的运动状态划分为退化、摇起以及平衡 3个阶段。根据每个阶段的定义公式,判断机械臂是否满足条件,随时切换运行状态,直至切换至平衡阶段停止。在积分分离式 PID 算法中,给定一个控制系数阈值,并与机械臂当前阶段采样差对比,选择合适 PD 、PID 控制算法。搭建实验测试环境,通过与其他算法展开对比,结果表明,所提方法具有最高的控制效率和机械臂运行精度。

Transmission Control Method of Three Link Manipulator Based on Integral Separation PID

A three-link manipulator transmission control method based on integral separation PID is proposed.The three-link manipulator is regarded as a mechanical system , the dynamic model is constructed , and each element in the analysis model is dismantled.The motion state of the three-link manipulator is divided into three stages : degradation , shaking and balance.According to the definition formula of each stage , it is judged whether the manipulator meets the conditions , and the operation state can be switched at any time until it switches to the balance stage and stops.In the integral separation PID algorithm , a control coefficient threshold is given , and compared with the sampling difference of the current stage of the manipulator , the appropriate PD and PID control algorithms are selected.The experimental test environment is built , and the results show that the proposed method has the highest control efficiency and operating accuracy of the manipulator.