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构建仿生眼系统的核心是模拟人眼神经回路的功能,确立能实现类人眼控制的控制方法。本文在研究人眼神经回路的基础上,在前庭神经核处理接收到的各方信息部分采用模糊自适应PID控制,对于仿生眼运动控制部分,根据医学研究结果,确立合适的传递函数,在Matlab环境下通过仿真不断地调整PID的各项参数。最后将控制方法运用到真实的球面并联机构仿生眼系统中,可以看到系统有较好的抗颠簸性和鲁棒性,很好地符合了人眼控制的规律。
The core of building a bionic eye system is to simulate the function of the human eye circuit and to establish a control method that can realize humanoid eye control. In this paper, based on the study of the human eye neural circuit, we adopt fuzzy adaptive PID control in the vestibular nerve nucleus to process the received information of all parties. For the bionic eye motion control part, according to the medical research results, establish the appropriate transfer function, Environment through the simulation constantly adjust the PID parameters. Finally, the control method is applied to the real spherical parallel mechanism bionic eye system, we can see that the system has better anti-bumpiness and robustness, well in line with the laws of human control.