基于MATLAB的双关节机械手控制系统仿真研究  

Control system simulation research for double joints manipulator based on MATLAB

作　　者：万敏[1] 安铃芝 

机构地区：[1]西南石油大学机电工程学院,四川成都610500 [2]四川现代职业学院制造技术系,四川成都610207

出　　处：《塑性工程学报》2017年第6期136-142,共7页Journal of Plasticity Engineering

基　　金：四川省科技计划项目(2013GZ0150)

摘　　要：针对机械手传统控制器控制精度低的问题,设计了一种不依赖机械手精确的数学模型的变论域模糊控制器。首先,根据拉格朗日方程,建立机械手的动力学模型;其次,设计变论域自适应模糊控制器,运用layapunov函数证明控制器的稳定性;最后对传统的PID控制和变论域模糊控制对机械手的高精度轨迹跟踪控制进行MATLAB/Simulink仿真分析和对仿真结果进行比较。仿真结果证明:变论域自适应模糊控制器对机械手的轨迹跟踪控制精度比传统的PID控制的控制精度高,稳态误差小,且鲁棒性、抗干扰能力强,响应速度快,验证了变论域自适应模糊控制的有效性。Pertaining to the low control precision problem of the traditional controller of manipulator,a variable universe fuzzy controller which not depend on the accurate mathematical model of manipulator was designed. Firstly,according to the Lagrange equation,the dynamic model of manipulator was established; secondly,a variable universe fuzzy controller was designed,and the stability of the controller was proved by using the layapunov function; finally,the control effect between the traditional PID control and the variable universe fuzzy controller of the high precision trajectory tracking for the double joints robotic manipulator was analyzed and compared by using MATLAB/Simulink. The results show that the variable universe fuzzy controller has better control precision of trajectory tracking than the traditional PID controller,and has small steady-state error,strong robustness,anti-interference ability and fast response speed,which verifies the validity of the variable universe fuzzy controller.

关 键 词：双关节机械手 PID控制 变论域模糊控制器 动力学方程 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]