具有固定重力补偿的模糊免疫PD控制在气动人工肌肉驱动机械手位置控制中的应用  

Application of Fuzzy Immune PD Controller with Fixed Gravity Compensation to Displacement Control for Manipulator Actuated by Pneumatic Muscle Actuator

作　　者：杨玉贵[1] 彭光正[1] 王涛[1] 王毅枫[1] 

机构地区：[1]北京理工大学信息科学技术学院自动控制系,北京100081

出　　处：《机器人》2008年第3期259-263,共5页Robot

基　　金：国家自然科学基金资助项目(50475163)

摘　　要：为了克服具有固定重力补偿的传统PD控制存在的不足,提高气动机械手位置控制的精度和控制系统的适应性和鲁棒性,借鉴生物免疫反馈响应过程的调节作用和模糊推理逻辑可逼近非线性函数的特性,将模糊控制算法和免疫反馈机理与具有固定重力补偿的传统PD控制算法相结合,提出了具有固定重力补偿的模糊免疫PD控制算法,并将它应用到气动人工肌肉驱动的机械手的固定点位置控制中.实验结果表明,该控制方法的控制性能优于常规的PD控制,具有一定的实际应用价值.In order to overcome the disadvantages of conventional PD control with fixed gravity compensation, to improve the displacement control precision of manipulator actuated by pneumatic muscle actuator （PM A）, and to increase the adaptability and robustness of the control system, a fuzzy immune PD control algorithm with fixed gravity compensation is presented by using the adjusting effect of feedback response of biological immune systems and the characteristics of fuzzy reasoning logic for approaching non-linear functions, which combines both fuzzy control algorithm and inmmne feedback mechanism with the conventional PD control ＇algorithm with fixed gravity compensation. Then the algorithm is applied to fixed displacement control for manipulator actuted by PMA. The experiment results show that the algorithm is better than the conventional PD control, and is of practical value.

关 键 词：模糊免疫PD控制 气动人工肌肉 机械手 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]