Abstract
Because the proportional–integral–derivative (PID) parameters selected by experience are random, the control effect of fuzzy PID cannot be optimized. In order to improve the accuracy and stability of robot motion control, an orthogonal-fuzzy PID intelligent control method is proposed. In this paper, the electric steering gear is used as the actuator, and the mathematical model of the servo motor joint drive system is established. The simulation analysis of the original control, PID control, fuzzy PID control, and orthogonal-fuzzy PID control of the manipulator joints in the Simulink software simulation environment and the motion control experiment of the manipulator show that using the orthogonal test method to adjust the PID parameters can quickly determine the appropriate PID parameters and greatly reduce the number of trials. The rise time, adjustment time, and overshoot of the system are significantly reduced by using fuzzy PID control, which can improve the adaptability of the system. By comparing and analyzing fuzzy PID and orthogonal-fuzzy PID control methods, it can be found that the system of orthogonal-fuzzy PID for optimal factor level combination (Kp = 0.1, Ki = 30 and Kd = 0.02) is the optimal system. The experiment results show that the orthogonal-fuzzy PID can further improve the accuracy of the system and reduce the oscillation process of the system near the steady state and make the motion more stable.
Highlights
With the rapid development of the modern service industry, service robots need to have the characteristics of fast response, high precision, and good motion stability
The simulation results show that the system can be stabilized by separately using original control, PID control, fuzzy PID control, and orthogonal-fuzzy PID control
Compared with the original control, the average stable angular error of the fuzzy PID control and the orthogonal-fuzzy PID control were reduced to different degrees, and the average stable angular relative error was reduced by about 4.5%
Summary
With the rapid development of the modern service industry, service robots need to have the characteristics of fast response, high precision, and good motion stability. Proportional–integral–derivative (PID) control is one of oldest developed control strategies and is widely used in industrial control because of its simple algorithm and good robustness [1] It has many defects, such as difficulty in determining parameters, inability to perform in complex, high-precision control situations, and reduced adaptability in time-varying systems [2]. Electronics 2019, 8, 1051 and used fuzzy PID technology to control the manipulator at Harbin Engineering University It has good dynamic quality, fast rise time, small overshoot, high control precision, and robustness during simulation [6]. In 2011, Anhua Peng et al reduced the overshoot and rise time of the system by optimizing the PID parameters of a machine tool closed-loop servo system using an orthogonal test method [8]. Simulation and experimental verification demonstrate the effectiveness of the proposed control method
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