存在振动的某机械臂控制研究

摘要

In order to research on the control of the mechanical arm in automatic ammunition loading system, this paper establishes its simplified model, derives its dynamic equations, uses ADAMS and Matlab software to simulate the mechanical arm system, uses the traditional PID control sheme and the self-adaptive fuzzy PID control sheme to simulate the mechanical arm and compares the results of the two shemes. The results shows that the self-adaptive fuzzy PID controller has a strong capacity of resisting disturbance and can be used to perfactly control the mechanical arm with the vibration and variable load.%针对火炮自动装填系统机械臂的控制问题,建立了整个机械臂的简化模型,并推导存在振动的机械臂的动力学方程,以便在实验室进行研究.使用ADAMS与Matlab机电联合仿真系统对机械臂进行仿真.通过使用传统的PID控制方案和模糊自适应PID控制方案分别对机械臂进行仿真,对2种方案的结果进行对比.结果表明:模糊自适应PID控制的抗干扰能力较强,能够满足存在振动和变负载条件下机械臂的控制.