论文部分内容阅读
本文针对机器人的关节电液位置伺服系统的特点,基于常规PID算法,结合仿人智能控制原理[1],设计了一种简单的智能PID控制器,该控制器克服了机器人系统固有的变惯量、非线性等不利因素的影响,显著提高系统的动态性能和位置精度,文中给出了大量的数字仿真和实时控制结果。
In this paper, aiming at the characteristics of robot electro-hydraulic position servo system, a simple intelligent PID controller is designed based on conventional PID algorithm and humanoid intelligent control principle [1]. The controller overcomes the inherent inertia of the robot system , Non-linear factors such as adverse effects, significantly improve the system’s dynamic performance and position accuracy, the paper gives a lot of digital simulation and real-time control results.