摘要
研究存在建模误差时二自由度机械臂的控制问题,针对一般PD和PID控制存在的缺陷,提出了基于模型的干扰抑制器(MBDA),并对此方法设计的控制器进行了稳定性证明。将其用于机械臂的控制,很好地解决了因无法获取精确模型所带来的误差问题,无论在抗干扰能力,稳定时间,抖动幅度,超调等性能指标上均体现了其独特的优越性。该方法简单,易于实现,且具有良好的干扰抑制能力和鲁棒性。通过仿真,将它与PD和PID控制法进行了比较,结果验证了该方法的有效性。
A control problem of manipulator with two degree-of-freedom whose model has modeling errors is studied. To the shortcomings of the control methods of PD and PID, the model based disturbance attenuator （MBDA） is put forward and the manipulator is controlled by using MBDA. It shows that the method resolves the error problems caused by unknowing the precision model and is very simple and easy to carry out. The method has the excellent ability of disturbance attenuation and robustness. The MBDA is compared with PD and PID method through simulation. The results show the effectiveness of the method.
出处
《控制工程》
CSCD
2007年第5期544-547,共4页
Control Engineering of China
关键词
机械臂
自由度
干扰抑制器
鲁棒性
manipulator
degree
disturbance attenuator
robustness
