模糊PID控制技术在单孔腔镜手术机器人中的应用

摘要

单孔腔镜手术机器人通过柔性钢丝绳驱动末端执行器运动.为了解决直流电机驱动钢丝绳时存在的速度不恒定问题,提出抗钢丝绳力干扰的模糊PID控制系统.该方法通过实时监测钢丝绳受力情况,结合模糊控制原理,对PID三个参数进行在线修改,以满足钢丝绳运行时,受力变化对控制参数的不同要求,从而使直流电机具有良好的同步和抗干扰效果.数值仿真和试验结论表明,该方案不仅对系统响应速度、动态过程中的同步误差有明显的提高,而且具有良好的鲁棒性.%In the single-incision laparoscopic surgery robot,there exists different speed when the DC motor drives the wire rope.In order to solve this problem,the research between the force disturbance of the wire rope and the fuzzy PID control was put forward.Combining with fuzzy control theory,this research tested the force conditions of the wire rope and adjusted the three parameters of the PID in real time,so it could meet the requirements of the wire rope running force for the different control parameters,and it could make the DC motor have good synchronization and ant interference effect.The numerical simulation and experimental results showed that this scheme not only significantly improved the system response speed and the synchronization error in the dynamic process,but also has good robustness.