基于PMAC的码垛机器人模糊PID算法研究

摘要

In order to improve the control precision and performance of Programmable Multi -Axis Controller ( PMAC) , it designs a fuzzy PID controller and the algorithm for a 4-DOF palletizing robot.Appliing the set-tling time, the overshoot, the rising time and the maximum following error, it obtains the step response experi-ment and the parabolic response experiment, proves that the algorithm can improve the stabilization static and dy-namic characteristics of the servo system, achieve the perfect control effect.%为了提高可编程多轴运动控制器(PMAC)的控制精度和性能,设计了模糊PID控制算法.该算法应用在4自由度码垛机器人控制系统中,通过机器人电机在传统PID控制下与模糊PID控制下的位置阶跃响应实验和速度抛物线响应实验,利用电机的调节时间Ts、超调量Mp、上升时间T r、最大跟随误差M feer等数据证明模糊PID控制算法很好地改善了机器人控制系统的稳定性,提高了伺服电机的稳态性能和动态性能,改善了PMAC对4自由度码垛机器人的控制效果.