基于MVC算法的机械爪控制器设计

Design of manipulator gripper controller based on MVC algorithm

传统机械手爪控制器多采用经典PID控制算法,尽管PID控制实施简单,但是很难保证手爪以最优的方式运动。基于最小方差控制(MVC)理论以手爪的波动方差为控制目标,通过求解丢番图方程获得控制器增益,实现手爪波动方差最小的控制效果。在实例仿真中与传统的PID算法进行比较,结果表明,MVC算法控制器有效地改善了动态性能,有较强的信号跟踪能力。

The classical PID control algorithm is often used in the traditional mechanical gripper controller.Although the implementation of PID control is simple,it is difficult to ensure the optimal motion of the gripper.In this paper,based on the minimum variance control theory,the controller gain is obtained by solving the Diophantine equation,and the minimum fluctuation variance of the gripper is achieved.Compared with the traditional PID algorithm,the simulation results show that MVC algorithm controller can effectively improve the dynamic performance with strong signal tracking ability.