| 孙瑞芳， 张晓龙， 谢晓全， 梁文凯.工业机器人非线性PID偏差耦合同步控制策略[J].轻工机械,2019,37(3):55-59 |
| 工业机器人非线性PID偏差耦合同步控制策略 |
| Nonlinear PID Bias Coupling Synchronous Control Strategy for Industrial Robots |
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| DOI：10.3969/j.issn.1005 2895.2019.03.011 |
| 中文关键词: 工业机器人 同步控制 非线性PID 偏差耦合 同步误差 |
| 英文关键词:industrial robot synchronous control nonlinear PID deviation coupling synchronous error |
| 基金项目: |
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| 摘要点击次数: 1701 |
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| 中文摘要: |
| 为了提升工业机器人系统的多轴同步控制精度，课题组将一种近似势能函数引入到设计的新型控制律中，提出一种新型的
非线性PID偏差耦合同步控制策略，并基于Lyapunov稳定性理论和LaSalle不变性原理证明了所提出的控制算法可以保证闭环系统的全局渐近稳定。实验结果表明：
新型的非线性PID偏差耦合同步控制策略与传统的线性PID控制策略和非线性PID控制策略相比较，系统的位置误差和同步误差收敛速度均明显加快，并且同步误
差减小了70%，达到同步要求的时间缩短了80%，超调量降低，同步控制性能得到显著提高，有效的改善了工业机器人同步控制系统的协调性及动态品质。 |
| 英文摘要: |
| In order to improve the multi axis synchronous control accuracy of industrial robot system，a new nonlinear PID deviation coupling synchronization
control strategy was proposed， an approximate potential function was introduced into the design of a new control law. Based on the Lyapunov stability theory and the LaSalle invariance
principle，the closed loop system global asymptotically stable was proved. The experimental results show that the new nonlinear PID bias coupling synchronization control strategy is
compared with the traditional linear PID control strategy and the nonlinear PID control strategy，the convergence speed of the system position error and synchronization error is accelerated
，and the synchronization error is reduced by 70%，and the time required for synchronization is shortened by 80%. With the reduction of overshoot，the synchronization control
performance is greatly improved，and the the coordination and dynamic quality of the synchronous control system of industrial robot are effectively improved. |
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