Research on the M-PID Controller Application in Real Time Control System of the Robot Arm

LIU Jun; DUAN Shu-kai; LI Tian-shu; WANG Li-dan

doi:10.3969/j.issn.0372-2112.2017.11.029

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Research on the M-PID Controller Application in Real Time Control System of the Robot Arm

更新时间：2025-07-16

- Research on the M-PID Controller Application in Real Time Control System of the Robot Arm
- Acta Electronica Sinica Vol. 45, Issue 11, Pages: 2795-2799(2017)
- 作者机构：
  
  1. 西南大学工程技术学院,重庆,400715
  2. 西南大学电子信息工程学院,重庆,400715
  3. 西南大学工程技术学院,重庆,400715
  4. 西南大学电子信息工程学院,重庆,400715
- 作者简介：
- 基金信息：
  
  National Natural Science Foundation of China (No.61372139, No.61571372, No.61101233);Fundamental Research Funds for the Central Universities (No.XDJK2016A001, No.XDJK2016C027, No.XDJK2015C009)
- DOI：10.3969/j.issn.0372-2112.2017.11.029
  CLC： TP273
- Published Online：25 November 2017，
  
  Published：2017
- 稿件说明：
移动端阅览
LIU Jun, DUAN Shu-kai, LI Tian-shu, et al. Research on the M-PID Controller Application in Real Time Control System of the Robot Arm[J]. Acta Electronica Sinica, 2017, 45(11): 2795-2799.
DOI：

LIU Jun, DUAN Shu-kai, LI Tian-shu, et al. Research on the M-PID Controller Application in Real Time Control System of the Robot Arm[J]. Acta Electronica Sinica, 2017, 45(11): 2795-2799. DOI： 10.3969/j.issn.0372-2112.2017.11.029.

摘要

目前忆阻器在忆阻神经形态电路方面的研究日渐成熟，但将其应用于实时控制电路还有待完善.本文以二关节机械臂作为研究对象，将电压阀控忆阻器与传统PID控制器相结合，设计了可用于实时电路系统的忆阻PID（M-PID）控制系统.并创新性的利用MOS管自身开关阀值，设计了带有零态区间的阀值忆阻器控制电路，这可有效避免因控制器频繁切换带给系统的震荡.论文利用Matlab仿真软件，从阶跃响应及位置跟踪两个层面对所设计的控制系统进行了仿真分析.仿真结果表明：所提M-PID控制算法可有效改善二关节机械臂控制系统的稳态和动态品质.

Abstract

The memristor used in the neural morphology circuit is becoming more mature at present

but it applied to real-time control circuit has yet to be perfect.In this paper

the two-joint robot arm is used as research object

and a memristor PID (M-PID) control system for real-time circuit system is designed by combining the memristor with the traditional PID controller.By using the switching threshold of the MOS transistor

this paper innovative designed a memristor control circuit with zero state interval

which can effectively avoid the oscillation caused by frequent switching of the controller.The proposed control algorithm is analyzed from step response and position tracking using Matlab simulation software.The simulation results show that the proposed M-PID control algorithm can effectively improve the steady-state and dynamic quality of the two-joint robot arm control system.

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