摘要
针对机器人姿态变换时伺服电机位置控制中惯量和负载转矩的变化,提出了一种PI Ziegler-Nichols预测并行控制策略。设计了PI Ziegler-Nichols控制器与预测控制器,PI Ziegler-Nichols控制可对传统PI控制器的比例、积分系数进行在线调整,抑制了参数变化和负载扰动,预测控制在误差较大时能够提高收敛速度并具有较好的跟踪能力。仿真结果表明,并行控制策略具有较好的稳定性和动态跟踪精度,当系统参量产生变化时,PI Ziegler-Nichols预测控制器可自适应调整,在机器人伺服系统中可实现较好的位置控制精度和较快的响应速度。
A PI Ziegler-Nichols predictive parallel control strategy is proposed for the change of inertia and load torque in servo motor position control during robot posture transformation. PI Ziegler-Nichols controller and predictive controller are designed,PI Ziegler-Nichols control can adjust the ratio and integral coefficient of traditional PI controller on-line,restrain parameter change and load disturbance. The predictive control can improve the convergence speed and have better tracking ability when the error is large. The simulation results show that the parallel control strategy has good stability and dynamic tracking accuracy,when the system parameters change,PI Ziegler-Nichols predictive controller can adjust adaptively,and the robot servo system has higher position control accuracy and faster response speed.
作者
张营
巩永光
田涛
ZHANG Ying;GONG Yong-guang;TIAN Tao(Department of Physics and Information Engineering Jining University,Shandong Qufu273155,China)
出处
《机械设计与制造》
北大核心
2020年第3期269-271,共3页
Machinery Design & Manufacture
基金
山东省高等学校科技计划项目(J13LB10)
济宁学院博士科研启动资金专项(2018BSZX09)。
