摘要
为了提升工业机器人系统的多轴同步控制精度,课题组将一种近似势能函数引入到设计的新型控制律中,提出一种新型的非线性PID偏差耦合同步控制策略,并基于Lyapunov稳定性理论和LaSalle不变性原理证明了所提出的控制算法可以保证闭环系统的全局渐近稳定。实验结果表明:新型的非线性PID偏差耦合同步控制策略与传统的线性PID控制策略和非线性PID控制策略相比较,系统的位置误差和同步误差收敛速度均明显加快,并且同步误差减小了70%,达到同步要求的时间缩短了80%,超调量降低,同步控制性能得到显著提高,有效的改善了工业机器人同步控制系统的协调性及动态品质。
In order to improve the multi axis synchronous control accuracy of industrial robot system,a new nonlinear PID deviation coupling synchronization control strategy was proposed,an approximate potential function was introduced into the design of a new control law. Based on the Lyapunov stability theory and the LaSalle invariance principle,the closed loop system global asymptotically stable was proved. The experimental results show that the new nonlinear PID bias coupling synchronization control strategy is compared with the traditional linear PID control strategy and the nonlinear PID control strategy,the convergence speed of the system position error and synchronization error is accelerated,and the synchronization error is reduced by 70%,and the time required for synchronization is shortened by 80%. With the reduction of overshoot,the synchronization control performance is greatly improved,and the the coordination and dynamic quality of the synchronous control system of industrial robot are effectively improved.
作者
孙瑞芳
张晓龙
谢晓全
梁文凯
SUN Ruifang;ZHANG Xiaolong;XIE Xiaoquan;LIANG Wenkai(Facuity of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)
出处
《轻工机械》
CAS
2019年第3期55-59,共5页
Light Industry Machinery
关键词
工业机器人
同步控制
非线性PID
偏差耦合
同步误差
industrial robot
synchronous control
nonlinear PID
deviation coupling
synchronous error
