忆阻PID控制器在机械臂实时控制系统中的应用研究

摘要

The memristor used in the neural morphology circuit is becoming more mature at present,but it applied to real-time control circuit has yet to be perfect.In this paper,the two-joint robot arm is used as research object,and a memris-tor PID (M-PID) control system for real-time circuit system is designed by combining the memristor with the traditional PID controller.By using the switching threshold of the MOS transistor,this paper innovative designed a memristor control circuit with zero state interval,which can effectively avoid the oscillation caused by frequent switching of the controller.The proposed control algorithm is analyzed from step response and position tracking using Matlab simulation software.The simulation results show that the proposed M-PID control algorithm can effectively improve the steady-state and dynamic quality of the two-joint robot arm control system.%目前忆阻器在忆阻神经形态电路方面的研究日渐成熟,但将其应用于实时控制电路还有待完善.本文以二关节机械臂作为研究对象,将电压阀控忆阻器与传统PID控制器相结合,设计了可用于实时电路系统的忆阻PID(M-PID)控制系统.并创新性的利用MOS管自身开关阀值,设计了带有“零态”区间的阀值忆阻器控制电路,这可有效避免因控制器频繁切换带给系统的震荡.论文利用Matlab仿真软件,从阶跃响应及位置跟踪两个层面对所设计的控制系统进行了仿真分析.仿真结果表明:所提M-PID控制算法可有效改善二关节机械臂控制系统的稳态和动态品质.