软腔体柔性机械臂的T-S模糊建模与控制

T-S fuzzy modeling and control of softy cavity flexible manipulator

针对柔性机械臂强非线性、强耦合性及不确定性的特点,利用Takagi-Sugeno模糊模型其规则前件是模糊变量,而规则后件的结论是输入输出线性函数的特点,对柔性机械臂进行了建模。在验证了模型准确性的基础上,进行了广义预测控制方法的研究,最后,对比分析了广义预测控制和传统PID控制,实验结果表明,基于T-S模糊模型的广义预测控制能很好的实现对柔性机械臂的控制。为柔性机械臂的模糊建模和进一步研究提供了理论指导及重要的前提条件。

Aiming at the strong non-linear, strong coupling, and uncertainty characteristics of flexible manipulator, utilizing the characteristic of Takagi-Sugeno fuzzy model that its former rule condition is fuzzy variable and its regular conclusion of consequence is a linear function about input and output, we carried out the modeling for flexible manipulator. On the basis of having proved the accuracy of the model, we carried out the study of generalized forecast control method. At last, generalized forecast control method and traditional PID control method were compared and analyzed. Experiment result shows that generalized forecast method based on T-S fuzzy model can realize the control of flexible manipulator very well, which provides important theoretical guidance and precondition for the fuzzy modeling and further study of flexible manipulator.