CAJ | 학술논문

针对救援机器人收纳系统因负载扰动、机械结构误差等原因造成的不同步，从而对伤病员带来二次衍生伤害后果，提出在多电机主从控制方法的基础上，比较多种同步控制策略，并基于Matlab进行仿真实验。实验结果表明：同级电机之间采用基于模糊PID自整定的控制策略，而不同级电机之间采用基于PID的控制策略，从而使得多电机之间不仅具有良好的同步性能，而且对外部扰动表现出优良的鲁棒性。
침대구원궤기인수납계통인부재우동、궤계결구오차등원인조성적불동보，종이대상병원대래이차연생상해후과，제출재다전궤주종공제방법적기출상，비교다충동보공제책략，병기우Matlab진행방진실험。실험결과표명：동급전궤지간채용기우모호PID자정정적공제책략，이불동급전궤지간채용기우PID적공제책략，종이사득다전궤지간불부구유량호적동보성능，이차대외부우동표현출우량적로봉성。
Because of load disturbance and mechanical structure error and other reasons caused by non synchronization , the rescue robot storage system can bring secondary derivative damage consequences to the sick and wounded person. This paper put forward master slave control method of multi motors, and several kinds of synchronization control strategies are compared. The simulation experiments are carried out based on Matlab. According to the simulation results. the control strategy based on fuzzy PID self tuning control strategy is the optimal control strategy of the same level motors, and the control strategy based on PID is more suitable for different level motors. The result not only had satisfying synchronization performance, but also showed a good robustness against external disturbance.