基于AMESim的前馈控制算法研究

Research on Feedforward Control Algorithm Based on AMESim

控制系统对于机器人来说是必不可少的,针对工业机器人最常用的PID控制不能对复杂机器人进行有效控制问题提出了一种适合处理基于全动态的复杂机器人的控制方法——基于前馈控制算法。以质量块系统为研究对象,运用AMESim软件采用虚拟分解控制对质量块系统进行模型的搭建及仿真,验证了算法的正确性;并对前馈控制算法进行了C语言编程,实现了Visual Studio与AMESim联合仿真。通过与PID控制方法进行对比,证明该控制方法更加稳定,控制性能得到了提高。

Control systems are essential for robots.Aiming at the problem that the most commonly used PID control of industrial robots cannot effectively control complex robots,a control method suitable for dealing with complex robots based on full dynamics is proposed-based on feedforward control algorithm.Taking the mass block system as the research object,the AMESim software is used to build and simulate the model of the mass block system using virtual decomposition control,and the correctness of the algorithm is verified.The feedforward control algorithm is programmed in C language,and the co-simulation between Visual Studio and AMESim is realized.Compared with the PID control method,it is proved that the control method is more stable and the control performance is improved.