The Anthropomorphic Robot Arm Joint Control Parameter Tuning Based on Ziegler Nichols PID

摘要

In order to get the anthropomorphic robot accurate parameters of the upper limb joint control motor, a method based on Ziegler Nichols-frequency response of the adaptive PID controller is proposed. The control circuit identifies online important critical frequency response characteristics of process object through input and output data in the normal process operation, and then the system online update PID controller parameters based on Ziegler-Nichols setting rules or by the improved method. The results show that the method has stronger robustness and adaptive ability. It can always guarantee control circuit run in the best condition and almost completely resistant to outside interference. The simulation is not only an important guiding role to the design of anthropomorphic robot hand control node, but also certain reference significance for the dc motor closed-loop control.