中文摘要：

为了保证全自动酶免分析仪加样臂运动的低速稳定性和位置精度,建立了加样臂运动控制系统.根据系统结构模型分析低速运行时爬行现象产生的原因,使用位置环PID、速度环模糊白适应PID的双闭环控制算法,改善低速爬行现象.并基于大量工程实验整定,选取了合适的模糊集合、模糊规则和PID参数论域取值.实测运行结果表明,在0.05 m/s的速度运行,能够保证速度误差小于2％,位置精度为±0.1 mm.算法满足了加样臂运行精度和稳定性要求.

英文摘要：

The movement control system of adding sample arm is put forward to ensure the position precision and stability at low velocity.The low speed crawling phenomenon based on system structure is analyzed.And a double closed-loop controller with PID position loop and Fuzzy PID speed loop is designed to improve this phenomenon.From a mass of practical tuning,a set of fuzzy sets,fuzzy rules and fuzzy domain are proposed.The experiment result shows that at the speed of 0.05m/s,the speed error is less than 2％ and the position precision is ± 0.1mm.The controller meets the movement accuracy and stability requirement of adding sample arm.