To achieve the rapid and steady position control for sampling arm, a self-adapting fuzzy-PID controller which was combined with fuzzy control and traditional PID was proposed. The use of fuzzy logic controller made the parameter of self-adapting of position PID controller possible, it also made the controller have more adaptive ability and anti-disturbance ability. The controller also has the equal high precision with the traditional PID controller. Simulation results showed the self-adapting fuzzy-PID position controller has anti-interference ability. The controller also had faster response and shorter adjustment time than traditional PID position controller. The sampling arm motion control experiment was done. The self-adapting fuzzy-PID control was verified by changing the motion environment of sampling arm and its accuracy motion control ability and adaptive ability was also tested. It can provide the reference for the similar controller design.%为实现快速、平稳的加样臂位置控制,将模糊控制与传统PID控制相结合,设计出基于模糊自适应PID的位置控制器.通过模糊控制在线调整位置环PID控制器的3个参数,使控制器具有较强的自适应能力和抗负载扰动能力,同时还具有传统PID控制器精度高的优点.仿真结果表明,基于模糊自适应PID的位置控制器比传统PID位置控制器响应速度快,调节时间短并具有抗干扰能力.进行了加样臂的运动控制实验,以传统PID控制作为对比,通过改变加样臂的运动环境验证了模糊自适应PID控制可以实现加样臂的准确位置控制并具有一定的自适应能力,可以为类似控制器的设计提供参考.
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