机械臂运动的智能自适应模糊控制策略

Manipulator Motion Control Strategy Based on Intelligent Adaptive Fuzzy Controller

为了提高机械臂轨迹跟踪控制精度同时节省驱动能量,提出了机械臂运动的智能自适应模糊控制策略。介绍了双连杆机械臂结构并建立了其动力学模型;设计了机械臂系统控制方案和智能自适应模糊控制器的实现方案;在粒子群算法基础上增加了多策略进化方法和多子群协同搜索方法,提出了多策略协同进化粒子群算法;以机械臂轨迹跟踪误差和驱动力矩最小为目标,以多策略协同进化算法为寻优算法,设计了具有智能自适应调节能力的模糊控制器。经仿真验证,自适应模糊控制器的跟踪误差幅值为PID控制误差幅值的26%左右,同时模糊控制器驱动力矩的平均振动幅值不足PID控制器力矩振动幅值的17%,充分证明了智能自适应模糊控制器能够以更小的力矩实现更小的跟踪误差。

To improve tracking accuracy of manipulator and save driving energy,trajectory tracking control method based on intelligent adaptive fuzzy controller is proposed. two-link manipulator structure is introduced,and its dynamic model is built.Manipulator system control scheme and intelligent adaptive fuzzy controller are designed. on basis of particle swarm algorithm,multi-strategy evolution method and multi-subsystem collaborative search method are put forward. So that multi-strategy coevolution particle swarm algorithm is raised. Setting the goal of maximizing tracking error and driving torque,multi-strategy co-evolution particle swarm algorithm as optimizing algorithm,fuzzy controller possessing intelligent adaptive adjusting ability is designed. It is clarified by simulation that control error magnitude of intelligent adaptive fuzzy controller is about 26% of the error magnitude by PID controller,and average vibration amplitude of intelligent adaptive fuzzy controller is less 17% than the average vibration amplitude of PID controller,which can prove that intelligent adaptive fuzzy controller posses less error by smaller moment.