二杆机械臂运动参数的灰色控制系统  

Grey predictive control system for motion parameters of two-rod arm

作　　者：袁祖强[1] 王鑫磊[1] 

机构地区：[1]南京工业大学机械与动力工程学院,江苏南京210009

出　　处：《南京工业大学学报（自然科学版）》2009年第5期86-90,共5页Journal of Nanjing Tech University(Natural Science Edition)

摘　　要：控制算法的好坏直接影响到机器人机械臂执行指令的效果.灰色预测控制因不需要被控对象精确的数学模型,且自适应能力强,超调适中,参数调整方便,具有更好的动、静态特性,较常规的PID控制有更多的优越性,适用于很多系统的自动控制.将灰色预测控制理论与PID控制理论有机地融合在一起形成了一套灰色预测控制系统并将其运用于二杆机械臂的控制中,通过MATLAB/Simulink环境仿真分析.The executing effect of robot arm was directly affected by the control algorithm. Grey predictive control did not need to build a accuraet mathematical model of the controlled object, of thus it has advantges intensive self-adaptability, moderate overshoot, conveniently adjusting parameter, and mation better dynamic and static characteristics than PID control. It can be used in many automation control systems. The grey predictive control theory is combined with grey predictive theory and PID control theory. And it is used to control two-rod robot arm. The anticipative effects were simulated and analyzed in MATLAB simulation environment.

关 键 词：机器人控制 机械臂控制 灰色预测控制 灰色PID控制 灰色理论 

分 类 号：TH124[机械工程—机械设计及理论]