基于死区补偿的码垛机械臂控制算法

Trajectory Tracking of Adaptive Robust Iterative Learning Control for Manipulator

针对码垛机械臂系统中存在死区特性影响控制精度的问题,提出一种基于模糊自适应的死区补偿算法。首先,根据死区非线性特性设计模糊死区补偿器对系统中的非线性环节进行补偿和控制;其次,利用模糊自适应算法对变量进行实时整定,从而使得轨迹跟踪误差趋于零;最后,借助MATLAB对理论结果实施验证。结果表明所提的控制算法具有良好的稳定性,与其他算法相比具有更高的动、静态性能和轨迹跟踪精度。

Aiming at the problem that dead zone characteristics affect the control accuracy in palletizing manipulator system,a dead zone compensation algorithm based on fuzzy adaptive is proposedFirstly,according to the nonlinear characteristics in the light of dead time,a fuzzy dead time compensator is designed to compensate and control the nonlinear links in the systemSecondly,the fuzzy adaptive algorithm is used to adjust the variable moving in real time,thereby reducing trajectory tracking errorFinally,the theoretical results are verified by MATLABThe results show that the designed control algorithm has good stability,and has higher dynamic and static performance and tracking accuracy than other algorithms.