一种基于模糊 PID 的 3TPS/TP 型并联机器人的控制算法

3TPS/TP型并联机器人本身所具有的强耦合性、非线性和多变量等特点导致其无法建立精确的数学模型,进而使得传统的比例积分微分(Proportion Integration Differentiation,PID)控制算法难以得到较好的应用。文章将模糊控制算法和传统的PID控制算法相结合,得到模糊PID控制算法并应用于3TPS/TP型并联机器人控制系统的伺服电机中。仿真结果表明,模糊PID控制算法在控制精度、稳定性以及适应性方面都优于PID算法,控制效果符合预期要求。

The Control Algorithm of 3TPS/TP Parallel Robot Based on Fuzzy PID

3TPS/TP parallel robots generally have the characteristics of strong coupling, nonlinearity and multi-variables, which make it difficult to establish a precise mathematical model for the conventional PID(Proportion Integration Differentiation) control algorithm, resulting in a limited application. In this paper, a fuzzy PID control algorithm, which is the combination of the fuzzy control algorithm with the conventional PID control algorithm, was designed and applied to the servo motor in the control system of the 3TPS/TP parallel robot. The simulation results show that the fuzzy PID control algorithm has a better control effect than the conventional PID control algorithm in the control accuracy, stability and adaptability, meeting the expected requirements.