Research on Closed-Loop Improved RBF/Fuzzy PID Synchronous Control of Rod Drive Industrial Robot Arm
In order to improve the synchronization control accuracy of two cylinders of industrial robot arm driven by connecting rod,an improved RBF/fuzzy PID control scheme was designed,and the simulation test was completed by Simulink.The results show that the speed signal first accelerates,then stabilizes,and finally decelerates.At low speed,the maximum synchronization error of the two cylinders with the improved RBF/fuzzy PID control is only 0.08mm,and the error is 0.002 2 mm in the stable state.At high speed,the maximum synchronization error of the two cylinders is reduced to 0.11mm with the improved RBF/fuzzy PID control,and the error is reduced to 0.02mm in the stable state.
万方数据
维普
