基于无模型自适应控制算法的机械臂轨迹跟踪控制  

Trajectory Tracking Control of Manipulator Based on MFAC

作　　者：张磊[1,2] 孙会来 ZHANG Lei;SUN Huilai(School of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China;Tianjin Transportation Comprehensive Administrative Law Enforcement Corps,Tianjin 300304,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市交通运输综合行政执法总队,天津300304

出　　处：《天津科技》2021年第4期30-34,共5页Tianjin Science & Technology

摘　　要：机械臂控制研究领域目前研究的热点分为目标点的位置控制和运动轨迹跟踪两方面。目标位置点的控制重点在于对末端执行器的位置点位的控制,对中间各个轴的运动过程并不关心;轨迹控制的重点在于通过各个轴的力矩控制来使其运行过程更加连续,更好地实现工作要求。针对机械手控制过程中总是存在不确定的情况,利用基于紧格式无模型自适应控制算法分别对单力臂和双力臂机械手进行控制,利用MATLAB/Simulink仿真软件将PID控制和无模型自适应控制器进行机械臂控制效果的验证与分析。仿真结果表明,无模型自适应控制对机械臂控制的效果更佳,体现出该控制器具有抗扰、解耦、消除抖震等优势。At present,the research focus of manipulator control includes target position control and trajectory tracking.The control of the target position points focuses on the control of the position points of the end-effector and does not care about the motion process of each axis in the middle.The key point of trajectory control is the torque control of each axis to make its running process more continuous,better to achieve the work requirements.Aiming at the situation that there is always uncertainty in the control process of manipulator,the model-free adaptive control(MFAC)algorithm based on the compact format is used to control the single arm and double arm manipulator respectively.The MATLAB/Simulink simulation software is used to verify and analyze the control effect of the manipulator with PID and model-free adaptive controller.The simulation results show that the effect of MFAC is better for the manipulator control,which reflects the advantages of antidisturbance,decoupling and buffeting elimination of the controller.

关 键 词：轨迹跟踪 无模型自适应控制器 PID控制 关节机械手 

分 类 号：TP41[自动化与计算机技术]