PMSM驱动的柔性关节机器人命令滤波模糊控制

Command Filtered Fuzzy Control for Flexible Joint Robot Driven by Permanent Magnet Synchronous Motor

针对永磁同步电机驱动的柔性关节机器人的位置跟踪控制问题,本文采用反步法进行控制,并基于永磁同步电机和柔性关节机器人构建的新系统,通过永磁同步电机的电压,实现机器人的位置跟踪。同时,结合模糊自适应控制方法,利用命令滤波技术,解决了传统反步法中存在的"计算复杂性"问题。为验证本文控制算法的有效性,利用Matlab进行仿真实验。实验结果表明,机器人的位置信号可以快速跟踪给定的期望信号,且跟踪误差小,跟踪效果良好,控制精度高,说明本文所设计的控制方法,对永磁同步电机驱动的柔性关节机器人系统具有良好的控制效果。该研究能够有效实现对柔性关节机器人的位置跟踪控制,具有较好的应用前景。

Aiming at the position tracking control of the flexible joint robot driven by permanent magnet synchronous motor,this paper adopts the backstepping and realizes the position tracking of the robot through the voltage of the permanent magnet synchronous motor based on the new system constructed by permanent magnet synchronous motor and flexible joint robot.At the same time,the problem of "computational complexity" in the traditional backstepping is solved by the command filtering technology combined with the adaptive fuzzy control method.The simulation experiment is carried out in Matlab to verify the effectiveness of the control algorithm in this paper.The experimental results show that the position signal of the robot can accurately track the desired signal.The method proposed in this paper has the advantages of small error,great tracking effect and excellent control accuracy.It shows that under the control method designed in this paper,the flexible joint robot system driven by PMSM has great control effect.The research can effectively realize the position tracking control of the flexible joint robot and has a good application prospect.