摘要
面向三连杆机械臂控制器设计,提出了直接参数化算法。三连杆机械臂系统属于非线性系统,可转变为具备期望特性结构的线性系统,以明确控制器参数化形式。在控制器设计中,依旧具备可利用自由度,以此优化完善系统整体性能。通过直接参数化算法,且基于Simulink仿真检验算法实效性。结果表明,三连杆机械臂控制器可实现机械臂稳定运转于直立平衡点位置;且直接参数化算法可显著优化机械臂各个关节响应调节时间与超调量。
For the design of three-link manipulator controller,a direct parametric algorithm is proposed. The three-bar manipulator system is a nonlinear system,which can be transformed into a linear system with the desired characteristic structure in order to clarify the parametric form of the controller. In the controller design,there are still available degrees of freedom to optimize and improve the overall performance of the system. Through the direct parametric algorithm,and based on Simulink simulation to verify the effectiveness of the algorithm. The results show that the three-bar manipulator controller can realize the stable operation of the manipulator at the vertical equilibrium point,and the direct parametric algorithm can significantly optimize the adjustment time and overshoot of the response of each joint of the manipulator.
作者
焦婉莹
JIAO Wanying(Xian Aeronautical Polytechnic Institute,Xi'an 710089,China)
出处
《工业加热》
CAS
2020年第11期44-47,共4页
Industrial Heating
