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In order to solve the problem that the synchronous control accuracy of the climbing frame with multi-node structure is susceptible to external disturbance during operation, a deviation coupling control method based on sliding mode variable structure was proposed. Secondly, the fuzzy PID (proportion integral differential) control algorithm was used to improve the control accuracy of deviation coupling, and a fuzzy sliding mode displacement controller was designed to eliminate jitter by combining fuzzy control and sliding mode control, so as to improve the synchronous control performance between nodes. Finally, MATLAB/Simulink was used for simulation and experimental verification. Simulation and experimental results show that compared with the traditional deviation coupling structure, the errors between nodes in the proposed method are reduced by 68. 2%, 73. 5% and 78. 2% respectively under the condition of interference, which has better synchronization accuracy and good robustness. [ABSTRACT FROM AUTHOR]

In order to enhance the synchronization of welding robot arms and improve welding quality, this study proposes a fuzzy PID-based improved deviation coupling multi-axis synchronous control method. Firstly, in response to the intricacies inherent in the compensation mechanism of the deviation coupling control structure and the substantial volume of system computation, the integration of average speed and sub-average speed is proposed to optimize the speed compensator. This integration aims to mitigate speed synchronization errors, minimize synchronization adjustment time, and elevate overall system synchronization performance. Moreover, the fuzzy PID algorithm is employed to design the controller to realize the single-motor adaptive control, leading to improvement in both system stability and dynamic response performance. Finally, a simulation model for six-axis synchronization control and an experimental platform were developed. Both simulation and experimental results demonstrate that the improved deviation coupling control method exhibits superior synchronization performance. The proposed multi-axis synchronous control method effectively heightens the synchronous performance of the six-degrees-of-freedom robotic arm. [ABSTRACT FROM AUTHOR]

In order to enhance the synchronization of welding robot arms and improve welding quality, this study proposes a fuzzy PID-based improved deviation coupling multi-axis synchronous control method. Firstly, in response to the intricacies inherent in the compensation mechanism of the deviation coupling control structure and the substantial volume of system computation, the integration of average speed and sub-average speed is proposed to optimize the speed compensator. This integration aims to mitigate speed synchronization errors, minimize synchronization adjustment time, and elevate overall system synchronization performance. Moreover, the fuzzy PID algorithm is employed to design the controller to realize the single-motor adaptive control, leading to improvement in both system stability and dynamic response performance. Finally, a simulation model for six-axis synchronization control and an experimental platform were developed. Both simulation and experimental results demonstrate that the improved deviation coupling control method exhibits superior synchronization performance. The proposed multi-axis synchronous control method effectively heightens the synchronous performance of the six-degrees-of-freedom robotic arm.

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