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Alternative TitleResearch on Fuzzy Proportional-integral-derivative Control of Master-slave Minimally Invasive Operation Robot Drive
赵希梅; 任成一; 刘浩; 李洪谊
Source Publication生物医学工程学杂志
Indexed ByCSCD
Contribution Rank1
Funding Organization国家自然青年科学基金资助项目(61105099); 沈阳市科技计划项目资助(F12-277-1-70)
Keyword导管机器人 主从控制 模糊比例积分微分控制 机器人驱动器 位置跟踪
Other AbstractRobotic catheter minimally invasive operation requires that the driver control system has the advantages of quick response, strong anti-jamming and real-time tracking of target trajectory. Since the catheter parameters of itself and movement environment and other factors continuously change, when the driver is controlled using traditional proportional-integral-derivative(PID),the controller gain becomes fixed once the PID parameters are set. It can not change with the change of the parameters of the object and environmental disturbance so that its change affects the position tracking accuracy, and may bring a large overshoot endangering patients’ vessel. Therefore, this paper adopts fuzzy PID control method to adjust PID gain parameters in the tracking process in order to improve the system anti-interference ability, dynamic performance and tracking accuracy. The simulation results showed that the fuzzy PID control method had a fast tracking performance and a strong robustness. Compared with those of traditional PID control, the feasibility and practicability of fuzzy PID control are verified in a robotic catheter minimally invasive operation.
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Document Type期刊论文
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GB/T 7714
赵希梅,任成一,刘浩,等. 主从微创手术机器人驱动器模糊比例积分微分控制研究[J]. 生物医学工程学杂志,2014,31(6):1346-1349.
APA 赵希梅,任成一,刘浩,&李洪谊.(2014).主从微创手术机器人驱动器模糊比例积分微分控制研究.生物医学工程学杂志,31(6),1346-1349.
MLA 赵希梅,et al."主从微创手术机器人驱动器模糊比例积分微分控制研究".生物医学工程学杂志 31.6(2014):1346-1349.
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