机器人和视觉系统的PID控制器设计.docVIP

机器人和视觉系统的PID控制器设计 摘要 PID控制是最早发展起来的经典控制策略, 是用于过程控制最有效的策略之一。由于其原理简单、技术成功，在实际应用中较易于整定, 在工业控制中得到了广泛的应用。它最大的优点是不需了解被控对象精确的数学模型,只需在线根据系统误差及误差的变化率等简单参数, 经过经验进行调节器参数在线整定, 即可取得满意的结果, 具有很大的适应性和灵活性。 机器视觉系统是指用计算机来实现人的视觉功能，也就是用计算机来实现对客观的三维世界的识别。按现在的理解，人类视觉系统的感受部分是视网膜，它是一个三维采样系统。三维物体的可见部分投影到网膜上，人们按照投影到视网膜上的二维的像来对该物体进行三维理解。 本文使用PID控制器对机器视觉系统进行调节，使其优化，并使用MATLAB对系统进行建模仿真。 关键字：PID控制器 机器视觉系统 MATLAB Abstract Classical control strategy of PID control was first developed, is one of the most effective strategies for process control. Due to its simple in principle, technology success, and in practice easier setting, it has been widely used in industrial control applications. Its greatest advantage is that do not need to know precise mathematical model of the object being controlled just online based on a change of system errors and error rate and other simple parameters, after the experienced regulator parameters line setting, you can achieve satisfactory results, with a great deal of adaptability and flexibility. Machine vision systems are systems that use computers to achievement of human visual function, which use computers to achieve of the objective recognition of three dimensional world. According to present understanding, feel part of the human visual system is the retina, which is a three dimensional sampling system. Three dimensional on the visible part of the object projected onto the retina, people follow the two dimensional projected onto the retina as the object to be three dimensional understanding of.. This article uses adjusted PID controller for machine vision systems, optimization, and modeling and simulation of systems using MATLAB. Keywords: PID controller , Machine vision system, MATLAB 已知机器人系统为单位反馈系统，被控对象为机器臂，其传递函数为： 使用MATLAB对对象进行分析： 1.开环传递函数的零极点分布图及其根轨迹图如下： 程序为：num=[1];den=[0.5,1.5,1];G=tf(num,den); figure(1) pzmap(G); figure(2) rlocus(G); 图1 零极点分布图 图2 根轨迹图 2．对其绘制阶跃响应曲线，程序如下： num=[1];den=[0.5,1.5,1];G=tf(num,den);step(G) 图3-1