基于模糊PID调节的核磁兼容机器人气动控制技术

doi:10.3724/SP.J.1218.2012.00531

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引用本文:
姜杉, 冯文浩, 杨志永, 刘筠 . 基于模糊PID调节的核磁兼容机器人气动控制技术[J]. 机器人, 2012, 34(5): 531-538.DOI: 10.3724/SP.J.1218.2012.00531. JIANG Shan, FENG Wenhao, YANG Zhiyong, LIU Jun. Pneumatic Control Technology Based on Fuzzy PID for MRI Compatible Robots. ROBOT, 2012, 34(5): 531-538. DOI: 10.3724/SP.J.1218.2012.00531.

摘要

基于自主研发的MRI（核磁共振成像）导航针刺手术机器人，搭建了机器人气动控制系统．建立了开关阀控气缸、气缸摩擦力及长气管等数学模型，设计了模糊PID（比例—积分—微分）控制器，并在此基础上进行了PWM（脉宽调制）信号的线性分解．模拟仿真和实验验证结果均表明模糊PID控制器对系统具有较高的位置控制精度及轨迹跟踪能力．结合机器人进行针刺精度实验，结果显示针刺精度误差为0.79 mm，满足精度要求．

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	姜杉

关键词 ：核磁共振成像（MRI）, 手术机器人, 气动控制系统, 模糊PID

Abstract：

Based on the analysis of the independently developed MRI-guided needle-penetrating robot, a pneumatic control system is designed. The on/off valve-cylinder model, cylinder friction model and long transmission lines model are established. Then, a fuzzy PID (proportional-integral-derivative) controller is designed, and PWM (pulse width modulation) signal is decomposed linearly. Simulation and experimental results indicate that the controller is effective in both position control and trajectory tracking. The controller is implemented on the robot to verify the needle precision, and the results show that the error of needle penetration is 0.79mm, which meets the accuracy requirement.

Key words： magnetic resonance imaging (MRI) surgical robot pneumatic control system fuzzy PID (proportional-integral-derivative)

收稿日期: 2012-03-11 录用日期: 2012-07-07

TP24

基金资助:

国家自然科学基金资助项目（51175373）；教育部新世纪优秀人才支持计划资助项目（NCET-10-0625）

通讯作者: 姜杉 E-mail: shanjiang@tju.edu.cn

作者简介: 姜杉（1973—），女，博士，副教授．研究领域：图像导向手术机器人，先进机构学．
冯文浩（1988—），男，硕士生．研究领域：微创手术机器人控制系统．
杨志永（1972—），男，博士后，教授．研究领域：微创手术机器人，机械动力学．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00531 或 https://robot.sia.cn/CN/Y2012/V34/I5/531

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