Abstract：The mathematical model of inspection robot joint motor PID closed loop control system is established. For complex operating environment as well as some of the factors robot will produce some perturbation model parameters, conventional PID control poor effective. Inspection robot joint motor Robust PID control method is proposed based on kharitonov theory. Finally, do simulation research on robot joint motor PID control system in Matlab environment based on kharitonov theory. The results show that the conventional PID has better control effect only to nominal model, but ineffective to parameters perturbed system, while robust PID has good control effect to parameters perturbed system and compared with robust PID based on H∞ theory has better control effect which meet the inspection robot design requirements.
邵嶽. 基于Kharitonov理论的巡检机器人关节电机鲁棒控制[J]. 电气技术, 2018, 19(4): 19-27.
Shao Yue. Robust control of inspection robot joint motor based on Kharitonov theory. Electrical Engineering, 2018, 19(4): 19-27.
2018, Vol. 19 
