采用模糊补偿的直接驱动机械臂控制

The Control of Direct-Driven Mechanical Arms Using Fuzzy Compensation

针对直接驱动机械臂惯量大范围变化的问题,设计了一种模型参考模糊补偿器.实时控制结果表明,它与PI控制器相结合,能有效地克服直接驱动机械臂系统变参数因素的影响,保证系统具有良好的动态特性.提出的控制方案既提高了系统的鲁棒性,又可以获得满意的控制性能.

The design of direct-driven mechanical arm servo systems is investigated. Apart from the conventional position regulator and speed regulator for control accuracy, a model reference adaptive compensative element is used to cope with wide range parameter variation of the controlled objects. Fuzzy logic is used in the compensator design and the inputs are the response differences between the controlled object and the reference model. After a series of fuzzy inference, an output compensative quantity Ub is obtained, which compensates for the response error brought about by the deviation from the standard state of the controlled object. Experimental results show that when the inertia is four times as great as the normal one, the performance remains satisfactory. The robustness is significantly improved by the fuzzy compensator without affecting the static accuracy.