气动柔性弯曲关节的特性及其神经PID控制算法研究  

Investigation of the characteristics of pneumatic flexible-bending joint and its neural PID controlling algorithm

作　　者：杨庆华[1] 张立彬[1] 胥芳[1] 鲍官军[1] 沈建冰[1] 

机构地区：[1]浙江工业大学机电工程学院,杭州310032

出　　处：《农业工程学报》2004年第4期88-91,共4页Transactions of the Chinese Society of Agricultural Engineering

摘　　要：气动柔性弯曲关节可用于多指灵巧手的设计研究,为探讨其特性和控制方法,介绍了新型气动柔性弯曲关节的结构原理及其静态模型、动态模型;针对这种关节设计了神经PID控制算法,该算法主要包括两个神经网络:系统在线辨识器NNI和自适应PID控制器NNC。在NNI对弯曲关节进行在线辨识的基础上,通过对NNC的权系数进行实时调整,使系统具有自适应性。试验结果表明应用神经PID控制器能够有效地跟踪关节的运动轨迹,是适合这种关节的控制器。Pneumatic flexible-bending joint can be used in the design of multi-fingered hand. To discuss its characteristics and control method, the structure and principle of bending joint were introduced and the static and dynamic models were analyzed. A neural Proportional, Integral and Differential(PID) controller was designed for this kind of joint. The algorithm mainly includes two neural networks: Neural Network Identifier (NNI) and Neural Network Controller (NNC). NNI can perform on-line identification of the bending joint and NNC can accomplish real-time adaptation of the coefficient. Therefore, the system has property of self-adaptability. Experimental results show that the neural PID controller can efficiently track the movement of the joint and it is an appropriate controller for this kind of joint.

关 键 词：气动技术 柔性关节 神经PID控制 多指灵巧手 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]