摘要
综述对水下非线性机械手的关节的PID控制算法的研究与改进,通过对电动机死区电压的调整控制,对机械手关节电动机得到有效稳定的控制,保持电动机的动态性能。
This paper summarizes the research and improvement of PID s control algorithm of the joint of non-linear underwater manipulator,through the dead zone motor voltage adjustment and control,the robot joint motor is controlled effectively and stably tomaintain the motor dynamic performance.
出处
《机械制造与自动化》
2010年第2期142-145,共4页
Machine Building & Automation
关键词
非线性
PID控制
死区电压
动态性能
non-linear
control algorithm of PID
dead zone voltage
dynamic performance
