基于力外环的模糊灰色预测力控制器  

FUZZY GREY PREDICTION FORCE CONTROL SCHEME BASED ON OUTER FORCE CONTROL LOOP

作　　者：张广立[1] 付莹[1] 杨汝清[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200030

出　　处：《机械工程学报》2004年第12期177-181,186,共6页Journal of Mechanical Engineering

摘　　要：在基于位置环的显式力控制方案的框架内,提出一种新型模糊灰色预测力控制策略。采用灰色预测器来预测将来的接触力,通过模糊增益调节器将预测的接触力误差和实际测得的当前接触力误差进行合成形成一个综合接触力误差,综合接触力误差作为PID或PI力补偿器的输入变量,力补偿器生成位置控制系统的输入指令。这样该控制器可以利用过去、当前和将来的接触力信息来计算合适的控制校正量来对接触力误差进行预补偿,使控制器可以同时获得超调量小和响应快速的性能。而且,该控制器可以按照当前和将来的接触力状态来调节预测的接触力误差和实际测得的当前接触力误差的权值,使控制器对机器人和环境之间的动态接触过程具有适应性。最后用仿真试验证明所提出的模糊灰色预测力控制器的有效性。Based on the framework of position-based explicit force control scheme, the fuzzy grey prediction control is employed to implement an admittance force control. A grey predictor is used to predict the future contract force which will be integrated with the measured current contract force by a fuzzy gain scheduler to form a integrated contact force error used as input variable of a PID or PI force compensator. So the controller can employ the past, present and future contact force information to calculate an appropriate control correction topre-compensate the contact force error so that the controller can both yield small overshot and fast response simultaneously. Furthermore, according to the present and future contact force status, the controller can adjust the gains of the future and current contract force error to make the controller adaptive to the dynamic contact process between environment and robot. Simulation results are presented to demonstrate the efficacy of the proposed fuzzy grey prediction force controller.

关 键 词：力控制 显式力控制 灰色预测 模糊增益调整 机器人控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]