基于模糊死区补偿的曲面加工机器人PD控制研究  

Study on PD Control of Curved Surface Machining Robots Based on Fuzzy Dead Zone Compensation

作　　者：朱海燕[1] 刘备 ZHU Haiyan;LIU Bei(Automative&Aviation School,Hubei Communications Technical College,Wuhan 430079,China)

机构地区：[1]湖北交通职业技术学院汽车与航空学院

出　　处：《机械》2020年第1期46-50,80,共6页Machinery

摘　　要：针对曲面加工机器人中的死区,提出了一种基于模糊补偿的PD控制算法,该算法用模糊死区补偿器实现机器人中的死区补偿,PD控制算法用于机器人关节的轨迹控制,从而消除死区对机器人轨迹控制的影响;为了验证该算法的有效性,在MATLAB仿真平台进行了数字化仿真,仿真结果表明:与传统的PD控制算法相比,本文所提出的基于模糊死区补偿的PD控制算法能够有效的对机器人中的死区进行补偿,提高了曲面加工机器人的位置精度,减少了位置误差,从而提高了加工精度。This paper put forward a PD control algorithm based on fuzzy compensation against the dead zone among curved surface machining robots.This algorithm realizes the dead zone compensation of robots via fuzzy dead zone compensator.The PD control algorithm can control the track of the joints of robot,and eliminate the effect of dead zone on the control of robot tracks.In order to check the algorithm validity,numerical simulation was made based on MATLAB Simulink platform.And the results show that compared to conventional PD control algorithm,the PD control algorithm based on fuzz dead zone compensation can effectively compensate the dead zone of curved surface machining robots,improving the positional accuracy and reducing positional error,thence improve the processing accuracy.

关 键 词：曲面加工 死区 模糊死区补偿 PD控制 MATLAB仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] O159[自动化与计算机技术—计算机科学与技术]