摘要
针对现有机械臂控制算法,在轨迹控制和精度补偿方面存在的不足,设计了一种基于模糊补偿系统的自适应控制算法;先在笛卡尔空间内分析了机械臂的空间动力学运动过程,并得出机械臂运动中的最优力矩值,构建模糊控制规则并设定模糊子集;对经典模糊理论进行优化,引入可变论域思维在机械臂运动过程中,系统会实时反馈末端执行器行动轨迹,并实施动态化补偿;基于自适应算法对可变论域模糊控制器进行二次优化,修正模糊规则并校正模型的控制量参数,提升和改善整个机械臂系统的控制精度;实验结果显示,模糊补充自适应控制算法在多关节和多连杆机械臂的角度控制和位移控制精度方面有较大的优势,同时各关节和连杆的运动相应时间仅为0.27 s和0.20 s。
Aimed at existing control algorithms for manipulators,there are the shortcomings of trajectory control and precision compensation,an adaptive control algorithm based on fuzzy compensation system is designed.Firstly,the space dynamic motion process of the manipulator is analyzed in Cartesian space to obtain the optimal torque value of the manipulator,construct the fuzzy control rules,and set the fuzzy subsets.The classical fuzzy theory is optimized,and the variable domain idea is introduced in the movement of the manipulator,the system feedbacks the action trajectory of the end actuator in real time,and implements the dynamic compensation.Based on the adaptive algorithm,the quadratic optimization of the variable theory domain fuzzy controller is carried out,which corrects the fuzzy rules and control parameters of the mode,improving the control accuracy of the whole manipulator sys-tem.The experimental results show that the fuzzy compensation adaptive control algorithm has great advantages in the angle and dis-placement control accuracy of the multi-joint and multi-link manipulator,at the same time,the corresponding motion time of each joint and link is only 0.27sand 0.20 s.
作者
王萍
WANG Ping(Shaanxi Industrial Vocational and Technical College,Aviation Engineering College,Xianyang 712000,China)
出处
《计算机测量与控制》
2023年第12期145-151,共7页
Computer Measurement &Control
基金
基于Petri网的FMS物料储运系统智能化改造研究(2021YKYB-055)。
关键词
模糊补偿系统
机械臂
自适应控制
可变论域
角度
位移
fuzzy compensation system
manipulator
adaptive control
variable domain
angle
displacement
