基于PID+ESO控制器的气动机械手控制仿真分析及试验研究

针对现实中的气动机械手存在的停滞及控制精度不高等缺点，为了使气动机械手具有更好的运动轨迹跟踪特性，降低非线性，通过分析PID+ESO控制器原理，对采用PID控制和扩张状态观测器PID控制下的气动机械手进行了理论研究。通过对控制器的设计，在MATLAB/Simulink软件上分别对两种不同的控制方法进行仿真，得到各轴的目标跟踪曲线和跟踪误差曲线。将此控制器原理应用于气动试验台，得出基于扩张状态观测器PID控制下的误差较低。应用于直角坐标气动机械手响应速度快、控制精度高。

Simulation Analysis and Experimental Research for Pneumatic Manipulator Control Based on PID+ESO Controller

In view of the reality that the pneumatic control precision is not high and the stagnation exists in the manipulator, in order to realize a better trajectory tracking and reduce the nonlinearity of the pneumatic manipulator, we study the pneumatic manipulator using the PID control and PID+ESO theoretically by analyzing the principle of the PID+ESO controller . The two different control methods are simulated on the software MATLAB/Simulink through the design of the controller, and the target tracking curve and the tracking error curve of each axis are obtained. The principle of the controller is applied to the pneumatic test rig, and we can conclude that the error of the PID+ESO controller is lower, and the result shows that the pneumatic manipulator used in rectangular coordinates has a fast response speed and a high control precision.