两自由度机械手臂的交叉耦合模糊逻辑控制  

Cross-coupled fuzzy logic control for robotic arms with two degrees of freedom

作　　者：郑伟勇[1] 李艳玮[1] 周兵[2] ZHENG Wei-yong;LI Yan-wei;ZHOU Bing(School of Computer,Henan Institute of Engineering,Zhengzhou 451191,China;School of Information Engineering,Zhengzhou University,Zhengzhou 450052,China)

机构地区：[1]河南工程学院计算机学院,郑州451191 [2]郑州大学信息工程学院,郑州450052

出　　处：《沈阳工业大学学报》2019年第3期326-331,共6页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(61379079)

摘　　要：针对两自由度机械手臂难以建立数学模型的问题,提出了一种交叉耦合的两级控制系统.利用MATLAB Simulink对建立的交叉耦合模糊逻辑控制器的性能进行了模拟仿真,并与传统的PID控制器、基于遗传算法优化的PID控制器进行对比分析.结果表明:搭建的交叉耦合模糊逻辑控制器对立臂转角和悬臂转角阶跃响应的稳定时间分别为0. 05和0. 12 s,该控制器具有较高的控制精度和收敛速度,在控制稳定性、响应速度和超调量等方面的性能均明显优于其他算法,对两自由度机械手系统具有优异的控制性能.Focusing on the difficulty in establishing the mathematical model for the mechanical arms with two degrees of freedom(2-DOF),a cross-coupled two stage control system was proposed.The performances of cross-coupled fuzzy logic controller were simulated with the M ATLAB Simulink,and the results were compared and analyzed with those of traditional PID controllers and those based on the genetic algorithm optimization.The results showthat the stability time for the step response of arm angle and cantilever angle is 0.05 s and 0.12 s,respectively,obtained with the established cross-coupled fuzzy logic controller.In addition,the proposed controller has higher control accuracy and convergence speed,and the performances concerning the control stability,response speed and overshoot of the proposed controller are considerably superior to those of other algorithms.In addition,the proposed controller has excellent control of mechanical arm system with 2-DOF.

关 键 词：机械手臂 两自由度 控制器 交叉耦合 双轴伺服 模糊逻辑控制 电液伺服 模拟仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]