摘要
由于柔性机械臂的动态模型较为复杂,传统的基于模型的控制策略一般难以处理.基于PD型模糊控制器,提出一种基于新型的模糊控制的柔性机械臂轨迹跟踪与振动控制策略.首先推导用于柔性机械臂角控制的PD型并联模糊控制器,随后将其改进,提出了一种非并联型模糊控制器,并结合输入整形策略,推导了一种新型的柔性机械臂的混合模糊控制器.在此基础上,构建了柔性机械臂实验平台,开展实时控制实验,给出了相关的时域和频域控制效果.相关的实验结果表明,所提出的新型模糊控制器能够较好地完成柔性机械臂的轨迹跟踪任务,并显著降低柔性机械臂的振动.
As the dynamics model of flexible manipulator are very complex,traditional modelbased control strategies are not suitable for solving the control problem.A new fuzzy control algorithm was proposed based on proportional-derivative type fuzzy rule.Firstly,aproportionalderivative type fuzzy controller was developed for angular position control.Then it was extended to incorporate a fuzzy controller and input shaping algorithm for vibration suppression.To verify the proposed methods,an experiment was constructed and real time control performance was shown both in time domain and frequency domain.The control performance of the proposed control algorithms were verified in terms of tracking capability,vibration suppression performance as well as time response specifications.
出处
《工程设计学报》
CSCD
北大核心
2015年第1期78-83,共6页
Chinese Journal of Engineering Design
基金
国家自然科学基金资助项目(61305106
61403123)
中国博士后科学基金资助项目(2013M541505)
河南省教育厅科学技术研究重点项目(14A413003)
河南工程学院博士科学基金项目(D2013011)
关键词
柔性机械臂
轨迹跟踪
模糊控制
振动控制
flexible manipulator
trajectory tracking
fuzzy control
vibration control
