摘要：焊接机器人所使用的无刷直流电机控制系统中的控制器直接影响到自动化焊接的性能，利用Matlab/Simulink建立了分别设计了基于常规PID控制器、积分分离PID控制器、模糊PID控制器的焊接移动机器人的无刷直流电机系统模型，并对模型进行了多方面的仿真研究。仿真结果表明，常规PID、积分分离PID、模糊PID相比较，模糊PID具有更高的精度和更好的系统动、静态特性、使系统获得更良好的综合性能。

关键词：常规PID；积分分离PID；模糊PID ；Matlab/Simulink
Abstract: Brushless DC motor system controller of welding mobile robot directly affects the performance of the automatic welding. Take advantage of Matlab/Simulink designed welding mobile robot brushless DC motor system model which based on conventional PID controller、integral separation PID controller and fuzzyPID controller, then simulation study was carried on the model. The simulation results show that compared with conventional PID controller and integral separation PID controller, fuzzyPID has higher accuracy and better system dynamic and static characteristics, allowing the system to get better performance.

Key words: conventional PID; integral separation PID; fuzzyPID; Matlab/Simulink