冗余自由度工业机器人模糊自适应PID控制研究  

Study of Redundant Industrial Robot Control Based on Fuzzy Self-adaptation PID Control Algorithm

作　　者：葛卓[1] 罗庆生[1] 梁冠豪[1] 

机构地区：[1]北京理工大学机电学院,北京100081

出　　处：《计算机测量与控制》2016年第8期126-129,133,共5页Computer Measurement &Control

基　　金：北京市教育委员会科技计划面上项目(KM201310858004;KM201310858001)

摘　　要：为提高汽车生产中涂胶工序的工作效率和空间利用率,改善机器人避障性能,设计了一款具有7自由度的冗余度工业涂胶机器人,并对其控制方法开展研究;针对现有PID控制方法应用于非线性时变的多自由度多刚体串联式开链系统时,控制效果有限、难以达到系统精度要求等问题,基于传统PID控制和模糊自适应控制算法,提出了一种带有重力补偿的模糊自适应PID混合控制方法;该方法在对冗余度工业机器人进行动力学分析的基础上,基于牛顿-欧拉分析法建立了冗余度机器人动力学模型,基于动力学分析设计了带有重力补偿的模糊自适应参数整定PID控制策略,建立了控制器模型,通过Matlab仿真实验表明,具有模糊自适应参数整定PID控制较有重力补偿的传统PID控制具有更好的控制效果。In order to improve work efficiency and space utilization of gelatinizing process in automobile production line, a new type of re- dundant industrial robot with seven degrees of freedom was presented and a new type of control method was proposed. As it is known, the traditional PID control method had poor control effect dealing with nonlinear time-varying rigid-body series open chain system with multi ple degrees of freedom. Based on the traditional PID control and fuzzy adaptive control algorithm, a parameter self-adaptation fuzzy PID control method with gravity compensation was proposed. Based on the Newton-Euler method, the dynamic model of this robot was estab lished, and based on the dynamic model, the parameter self-adaptation fuzzy PID controller with gravity compensation was built. Several emulations used Matlab/Simulink software showed that the novel dynamic controller was a stable control system, and had better control effect comparing with PID controller.

关 键 词：冗余自由度 工业机器人 动力学 模糊自适应 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]