摘要
针对柔性关节机器人具有不确定性、轨迹跟踪精度低和抖动的问题,提出一种改进模糊自适应补偿的PD控制方法。该方法在原有模糊自适应控制和PD控制的基础上进行改进,采用改进模糊自适应控制对PD控制进行补偿,以提高存在不确定性条件下的关节轨迹跟踪精度并抑制抖动。通过Lyapunov理论证明了系统的稳定性。仿真结果表明:新型控制器具有良好的自适应能力,与传统PD控制和模糊自适应控制相比,新型控制策略显著提高了关节的轨迹跟踪精度并在一定程度上抑制了关节抖动。
Aiming at the problems of uncertainty,low trajectory tracking accuracy and vibration of the flexible-joint robot,an improved fuzzy adaptive compensator based PD control method was proposed.It was improved on the basis of the original fuzzy adaptive control and PD control.The improved fuzzy adaptive control was used to compensate the PD control and improve the accuracy of joint trajectory tracking under the condition of uncertainty and suppress vibration.Through Lyapunov function,the stability of the system was proved.The simulation results show that the new controller has good adaptive ability.Compared with the traditional PD control and fuzzy adaptive control,the new control strategy significantly improves the trajectory tracking accuracy of the joint and suppresses the joint vibration to a certain extent.
作者
郭俊财
牛军川
谢冰冰
GUO Juncai;NIU Junchuan;XIE Bingbing(School of Mechanical Engineering,Shandong University,Jinan Shandong 250061,China;Key Laboratory of High Efficiency and Clean Mechanical Manufacture,Ministry of Education,Shandong University,Jinan Shandong 250061,China)
出处
《机床与液压》
北大核心
2023年第3期1-5,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金面上项目(52075294)
深圳市自然科学基金(JCYJ20190812170811682)。
