关键词: MATLAB软件, 模糊PID控制, 关节摩擦

Abstract: To improve the response speed and anti-jamming ability of the SCARA rotot when moving rapidly.Based on the traditional PID servo controller,the fussy control theory was used to design the servo control as a fuzzy-PID controller.The fuzzy PID controller was studied with simulation on the MATLAB platform.The performance indexes and the anti-jamming abilities were analysed and compared between the two controllers.The results showed that,under the effect of step signal,two kinds of controllers could better accomplish signal tracking,while the overshoot of fuzzy PID controller was smaller than PID controller.When considering the effect of periodic excitation,PID controller would occur oscillation,while fuzzy PID could still maintain a better signal tracking;In the process of five times polynomial trajectory tracking,two kinds of controllers could effectively accomplish.When considering the effect of nonlinear joint friction,PID controller trajectory tracking was offseting,but fuzzy controller actual trajectory can still maintain to be consistent with the expected trajectory.

Key words: MATLAB software, fuzzy PID control, joint friction