Improved fuzzy PID control method of accurate operations of serial mechanical arm

The invention discloses an improved fuzzy PID control method of accurate operations of a serial mechanical arm. The control method is characterized by mainly using a classical PID controller and a fuzzy PID self-adaptive controller and automatically switching two controllers according to the size of control variable deviation through an option switch. The compound control method makes full use ofthe advantage of the classical PID linear accurate control and the advantages of flexibility and adaptability of fuzzy PID self-adaptive control, is capable of taking effect on the linear control problem of the accurate mathematical model, is also capable of taking effect on the uncertain non-linear control problem of the mathematical model caused by the interference of the operation environment,and can provide a new solving approach for accurate operations of robots in the operation environment influenced by multiple nonlinear factors. 本发明公开了种串联机械臂精准作业的改进模糊PID控制方法，该控制方法主要由经典PID控制器和模糊PID自适应控制器组成，通过选择开关根据控制变量偏差大小实现两种控制