双关节机械手的模糊 PID 控制系统设计

摘 要

为了实现高阶、非线性、强耦合的机械手运动系统的控制，本文选用能够充分

体现机械手特性并且结构较为简单的 2 自由度机械手——双关节机械手，作为被控

对象；通过对双关节机械手采取大臂保持不动，即大臂与水平方向所成的锐角为常

量等一系列的假设，将其进行解耦，从而对双关节机械手系统的非线性模型进行近

似线性化处理，获得该系统的线性化模型，并推导出在大臂保持静止、仅对其小臂

运动进行控制的双关节机械手系统的数学模型。利用模糊控制技术，对双关节机械

手控制系统设计模糊 PID 控制器，提出一种参数模糊自整定 PID 控制方法，该方法

集中了模糊控制和常规 PID 控制两种控制的优点。在重点介绍模糊 PID 控制器设

计方法的基础上，利用 Matlab 软件分别进行了参数模糊自整定 PID 控制系统和常

规 PID 控制系统的 Simulink 仿真实验。仿真实验结果比较表明，参数模糊自整定

PID 控制方法使该双关节机械手的控制系统的性能得到很大改善。

关键词：机械手，模糊控制，PID 控制，模糊 PID 控制

I

双关节机械手的模糊 PID 控制系统设计

Abstract

In order to achieve higher order, nonlinear, strong coupling manipulator motion

control system, this selection can fully reflect the mechanical properties and structure of

the simplest hand-2-DOF Manipulator - double joint manipulator, as a controlled object;

through the two-joint manipulator system to take that big arm intact horizontal boom and

into the acute angle by a constant series of assumptions to be decoupled, thus

double-joint manipulator system to approximate the nonlinear model of the linear

treatment, access to linearized model of the system and derive the boom to keep still,

only his arm to control movement special two-joint robot system model. Fuzzy control

technology, the double joint robot hand control system design of fuzzy PID controller is

proposed fuzzy self-tuning PID control method, which focused on the fuzzy control and

conventional PID control are two con trol ad vantages. Focus on the fuzzy PID controller

in the design method, based on Matlab software were carried out using fuzzy self-tuning

PID control system and the conventional PID control system for Simulink simulation.

Simulation results shows that the fuzzy self-tuning PID control method to make the

two-joint manipulator control system performance is greatly improved.

Key words：Manipulator， fuzzy control，PID control，fuzzy PID control

II

双关节机械手的模糊 PID 控制系统设计

目 录

第一章 前言 .....................................................