模糊非线性补偿在伺服电机控制中的应用

Fuzzy Nonlinear Compensation and its Application to Controlling Servomotors

本文针对伺服电机控制中的摩擦等非线性因素,提出了模糊非线性补偿控制方法,并将该方法用于伺服电机驱动的三自由度机器人的定位控制。实验结果表明,该方法有效地消除了非线性因素的影响,实现了机器人的高速精确定位。

To counter the nonlinear factors of friction and so on in controlling servomotors,a control method of fuzzy nonlinear compensation is proposed in this paper,and is used in positioning of a robot with three degrees of freedom driven by servomotors.The results of experiments show that by this method,the influences of nonlin- ear factors can be effectively eliminated and the accurate positioning with high speed be implemented.