一种液压驱动机械臂多关节力矩控制方法

Multi-Joint Torque Control Method of Hydraulically Driven Manipulator

采用目前方法控制液压驱动机械臂的关节力矩时,没有对液压驱动机械臂的运动学和动力学进行分析,导致方法存在关节位置跟踪误差大、控制效率低、控制性能差和压力损失大的问题。提出液压驱动机械臂多关节力矩控制方法,分析了液压驱动机械臂的结构,并建立了机械臂坐标,分析液压驱动机械臂关节在坐标系中的运动情况,在Lagrange函数的基础上建立其动力学模型,分析关节在液压驱动机械臂运动过程中的势能和动能。对机械臂关节力矩误差和误差变化率进行计算,并将其作为模糊神经网络的输入变量,通过模糊神经网络完成液压驱动机械臂多关节力矩的控制。仿真结果表明,所提方法的关节位置跟踪误差小、控制效率高、控制性能好、压力损失小。

The kinematics and dynamics of the hydraulically driven manipulator are not analyzed when some methods are used to control the joint torque of the hydraulically driven manipulator,so large joint tracking error,low control efficiency,poor control performance and huge pressure loss are the main problems at present.In this paper,a method to control the multi-joint torque of the hydraulically driven manipulator was put forward.Firstly,the structure of the hydraulically driven manipulator was analyzed.And the coordinate of the manipulator was built.Secondly,the motion of the joints of the manipulator in the coordinate was analyzed,and then its Kinetic model was built based on Lagrange function to analyze the potential and kinetic energy of the joint during the movement of the manipulator.Moreover,the joint torque error and the variety rate of error of the manipulator were calculated,which then were used as the input variable of the fuzzy neural network.Finally,the control for the multi-joint torque of the hydraulically driven manipulator was completed through the fuzzy neural network.Simulation results show that the proposed method has a smaller tracking error of joints,higher control efficiency,better good control performance and less pressure loss.