基于LabVIEW分数阶控制器的机械臂控制

Control of mechanical arm based on LabVIEW fractional order controller

针对机械臂存在着参数摄动和外界干扰等不确定性,提出一种基于Lab VIEW分数阶控制器的机械臂控制方法,以提高机器人的跟踪控制精度和鲁棒性。在CompactRIO智能实时控制器和机箱的基础上利用NI9401对伺服电机的编码器信号进行采集处理,Lab VIEW软件编程控制NI9263输出模拟电压信号到伺服驱动器实现电机的力矩控制,算法采用分数阶PD控制器实现二自由度机械臂高速和高精度的运动控制,通过实验说明了该方法的工程有效性和可行性。

Aiming at the parameter perturbation and external interference uncertainly in the control of mechanical arm,in order to improve the tracking control accuracy and robustness of robot a control method based on the Lab VIEW fractional order is proposed. On the basis of CompactRIO smart real-time controller,using NI9401 to collect the signal of the servo motor,Lab VIEW software programming controls the NI9263 output analog voltage signal to the servo drive to realize of motor torque control. The algorithm adopts the fractional order control method to realize the motion control of the two-degree-of-freedom manipulator with high speed and high precision,the engineering effectiveness and feasibility of the method are illustrated by experiments.