摘要
针对用于三自由度机械臂各关节末端轨迹跟踪控制的非线性系统在扰动存在的情况下跟踪效率较低的问题,提出一种变增益迭代学习控制律。利用拉格朗日法建立动力学方程,设计三自由度机械臂结构的变增益迭代学习控制器并进行收敛性分析,通过Matlab的Simulink仿真模块,构建三自由度机械臂控制系统仿真图,进行闭环定常PD(Proportion Differentiation)型和闭环变增益PD型迭代学习控制器的三自由度机械臂对比仿真试验。仿真结果显示,基于变增益迭代学习的三自由度机械臂在干扰的状态下,能较短时间内收敛到期望轨迹。
A variable gain iterative learning control law is proposed to solve the problem that the tracking efficiency of nonlinear 3-DOF(three-Degree-Of-Freedom)manipulator’s trajectory tracking control system is low in the presence of disturbance.First,the Lagrangian method is used to establish the kinetic equation.Then,the variable gain iterative learning controller with three degrees of freedom manipulator structure is designed and its convergence is analyzed.Finally,through Matlab Simulink simulation module,the three-degree-of-freedom manipulator control system simulation diagram is constructed,and the comparative simulation test of closed-loop fixed constant and closed-loop variable gain PD(Proportion Differentiation)iterative learning control is carried out.Simulation results show that the three-degree-of-freedom manipulator based on variable gain iterative learning can converge to the desired trajectory in a short time in the presence of interference.
作者
王刚
宋英杰
唐武生
赵强
周露露
WANG Gang;SONG Yingjie;TANG Wusheng;ZHAO Qiang;ZHOU Lulu(School of Mechanical and Control Engineering,Baicheng Normal University,Baicheng 137000,China;School of Mechanical and Vehicle Engineering,Changchun University,Changchun 130022,China)
出处
《吉林大学学报（信息科学版）》
CAS
2021年第4期389-396,共8页
Journal of Jilin University（Information Science Edition）
基金
吉林省教育厅科技研究基金资助项目(JJKH20210004KJ)。
