Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal Optimization
In order to improve the accuracy and stability of the motion control of the manipulator consisting of electric steering gear, a fuzzy PID intelligent control method based on orthogonal test method is proposed In this paper, the electric steering gear is used as the actuator, and the mathematical mo...
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| Format: | Article |
| Language: | zho |
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Harbin University of Science and Technology Publications
2020-04-01
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| Series: | Journal of Harbin University of Science and Technology |
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| Online Access: | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1746 |
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| author | CHEN Rui ZHOU Haibo YU Hengbin LI Xia |
| author_facet | CHEN Rui ZHOU Haibo YU Hengbin LI Xia |
| author_sort | CHEN Rui |
| collection | DOAJ |
| description | In order to improve the accuracy and stability of the motion control of the manipulator consisting of electric steering gear, a fuzzy PID intelligent control method based on orthogonal test method is proposed In this paper, the electric steering gear is used as the actuator, and the mathematical model of the pickup robot joint servo drive system is established The orthogonal experimental design and fuzzy control method are added under the traditional PID (proportion, integration, differentiation) control strategy In the Simulink software simulation environment, the openloop control, orthogonal optimization PID control and fuzzy PID control of the manipulator joint drive system are simulated, and the motion control experiments of singledegreeoffreedom and doubledegreeoffreedom manipulators are carried out Simulation and experimental analysis show that the PID parameters can be adjusted by orthogonal test method, which can quickly determine the appropriate PID parameters and greatly reduce the number of trials The fuzzy control can improve the adaptability of PID control, which can significantly reduce the overshoot of the system, slightly increase the rise time and the adjustment time of the system, and improve the accuracy and stability of the system |
| format | Article |
| id | doaj-art-446997c135fa4d589bc2222b781d09b3 |
| institution | DOAJ |
| issn | 1007-2683 |
| language | zho |
| publishDate | 2020-04-01 |
| publisher | Harbin University of Science and Technology Publications |
| record_format | Article |
| series | Journal of Harbin University of Science and Technology |
| spelling | doaj-art-446997c135fa4d589bc2222b781d09b32025-08-20T03:05:31ZzhoHarbin University of Science and Technology PublicationsJournal of Harbin University of Science and Technology1007-26832020-04-012502162410.15938/j.jhust.2020.02.003Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal OptimizationCHEN Rui0ZHOU Haibo1YU Hengbin2LI Xia3Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, ChinaTianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, ChinaShandong Labor Vocational and Technical College, Jinan 250022, ChinaTianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, ChinaIn order to improve the accuracy and stability of the motion control of the manipulator consisting of electric steering gear, a fuzzy PID intelligent control method based on orthogonal test method is proposed In this paper, the electric steering gear is used as the actuator, and the mathematical model of the pickup robot joint servo drive system is established The orthogonal experimental design and fuzzy control method are added under the traditional PID (proportion, integration, differentiation) control strategy In the Simulink software simulation environment, the openloop control, orthogonal optimization PID control and fuzzy PID control of the manipulator joint drive system are simulated, and the motion control experiments of singledegreeoffreedom and doubledegreeoffreedom manipulators are carried out Simulation and experimental analysis show that the PID parameters can be adjusted by orthogonal test method, which can quickly determine the appropriate PID parameters and greatly reduce the number of trials The fuzzy control can improve the adaptability of PID control, which can significantly reduce the overshoot of the system, slightly increase the rise time and the adjustment time of the system, and improve the accuracy and stability of the systemhttps://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1746manipulatorelectric steering gearpidorthogonal optimizationfuzzy control |
| spellingShingle | CHEN Rui ZHOU Haibo YU Hengbin LI Xia Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal Optimization Journal of Harbin University of Science and Technology manipulator electric steering gear pid orthogonal optimization fuzzy control |
| title | Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal Optimization |
| title_full | Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal Optimization |
| title_fullStr | Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal Optimization |
| title_full_unstemmed | Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal Optimization |
| title_short | Simulation and Experimental Analysis of Servo Drive System Using Fuzzy PID Technology of Manipulator Consisting of Electric Steering Gear Based on Orthogonal Optimization |
| title_sort | simulation and experimental analysis of servo drive system using fuzzy pid technology of manipulator consisting of electric steering gear based on orthogonal optimization |
| topic | manipulator electric steering gear pid orthogonal optimization fuzzy control |
| url | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1746 |
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