中文摘要：

针对隧道掘进工程中某喷涂机械臂的控制精度问题,研究了基于重力补偿的机械臂PD与PID的控制方法。分析了这两种机械臂轨迹跟踪算法的稳定性与收敛性：基于重力补偿的PD控制算法是全局渐进稳定的,而PID控制算法在某些条件下是半全局渐进稳定的。计算机仿真结果表明,PD控制关节最大误差为0.14rad,PID控制关节最大误差为0.05rad,这两种算法都能够实现机械臂运动轨迹的准确跟踪,满足机械臂的位置控制要求,表明控制方法的有效性。

英文摘要：

Aiming at the problem of accuracy control of spraying manipulator in the tunnel engineering, the control method of the mechanical arm PD and PID is studied by gravity compensation. Two kinds of manipulator trajectory tracking algorithm stability and convergence are analyzed： PD control algorithm based on gravity compensation is the global asymptotic stability,but PID control algorithm is semi globally asymptotically stable under some conditions. Computer simulation results show that, the maximum error of PD was0. 14 rad,and the maximum error of PID was 0. 05 rad. These two algorithms can achieve accurate tracking of the trajectory of mechanical arm,which meets the requirement of the position control of mechanical arm and show the effectiveness of the control method.