结合模糊自整定的机械臂鲁棒PD控制器研究.pdfVIP

结合模糊自整定的机械臂鲁棒PD控制器研究 摘要:针对多自由度机械臂控制系统存在的高度非线性、强时变性、强耦合性等问题，提出了一种基于模糊自整定的鲁 棒PD控制策略 ，引入模糊控制器替代传统PD控制的参数整定过程，实现PD参数的在线自调整功能,并设计鲁棒自适应 补偿器，将鲁棒算法和自适应算法相结合以补偿系统的不确定性 。引入Lyapunov函数验证了控制系统的稳定性,并通过 Matlab环境下的Simulink仿真研究，验证了此控制策略的轨迹跟踪误差收敛速度较快，提高了系统的鲁棒性和学习能力， 具备应用在复杂的机械臂控制系统的可行性。 关键词:机械臂;模糊自整定;鲁棒自适应控制;PD控制 Research on Robust PD Controller of Manipulator Based on Fuzzy Self-Adjustment DONG Fan, GAO Hong-li, GUO Liang, YANG Kai (School of Mechanical Engineering, Southwest Jiaotong University, Sichuan Chengdu 610031, China) Abstract： A robust PD control strategy based on fuzzy self-adjustment is proposed for the problems about high nonlinearity, strong time-varying and strong coupling in the multi-degree-q/^freedom manipulator control system. The fuzzy controller is in­ troduced to replace the parameter adjustment process of the traditional PD control, in order to achieve the online self-adjustment Junction of the PD parameters. And design a robust adaptive compensator that combines robust and adaptive algorithms to com­ pensate for system uncertainty. Then prove the stability of the control system by using Lyapunov function, and the simulation study Matlab is used to verify that the trajectory tracking error of this control strategy converges quickly, the control system has good robustness and learning ability, and has the feasibility of being applied to comple mechanical arm control systems. Key Word ：The Manipulator ； Fuzzy Self-Adjustment; Robust Adaptive Control; PD Control 1引言 计算量较大，很难保证系统的稳定性与实时性W另一种控制 策略是采用鲁棒、滑模等控制方法,这类方法可以在不确定性可 机械臂是机器人控制系统中的重要部分,凭借其精确、快 控范围内保证系统稳定和维持一定的性能指标,能够抑制控制过 速、重复定位精度高等特点被广泛应用于实际工业生产中，但是 程中的干扰和补偿未建模动态，但是此类控制策略没有学习能