绳驱动机械手抓取力自整定模糊PID控制  

Self-tuning fuzzy PID control of grasping force of rope driven manipulator

作　　者：管声启[1,2] 张潇 杨栋峰 肖旭 张超 GUAN Shengqi;ZHANG Xiao;YANG Dongfeng;XIAO Xu;ZHANG Chao(School of Mechanical and Electronic Engineering,Xi’an Polytechnic University,Xi’an 710048,China;Shaoxing Keqiao West-Tex Textile Industry Innovative Institute,Shaoxing 312030,Zhejiang, China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710048 [2]绍兴市柯桥区西纺纺织产业创新研究院,浙江绍兴312030

出　　处：《西安工程大学学报》2021年第6期96-103,共8页Journal of Xi’an Polytechnic University

基　　金：陕西省重点研发计划项目(2018GY-020);绍兴市柯桥区西纺纺织产业创新研究院2019年度产学研协同创新项目(19KQYB15)。

摘　　要：针对绳驱动机械手传动存在线弹性形变、抓取力减小,易导致抓取目标震颤和滑落的问题,设计了一种自整定模糊PID抓取力控制算法。首先,建立了基于力控制的绳驱动机械手和直流电机的数学模型,并用Padé算法对控制系统的模型进行降阶;其次,通过Matlab的模糊控制工具箱设计了自整定模糊PID控制器;最后,利用Simulink环境分别建立了PID控制、模糊控制、自整定模糊PID控制算法的仿真模型,并实现了不同算法的抓取力控制仿真。仿真结果表明:自整定模糊PID抓取力控制算法可以在0.5 s内使系统达到稳定状态,稳态误差小于0.5%。当绳索发生回弹时能够在0.3 s内补偿抓取力,具有良好的动态性能,满足目标稳定抓取的要求。A self-tuning fuzzy PID grab force control algorithm was designed to solve the problems of linear elastic deformation and reduced grab force of rope driven robot hand,which easily causes shake and slip of grab target.Firstly,the mathematical models of rope driven manipulator and DC motor based on force control were established,and the order of the control system model was reduced by Padéalgorithm.Secondly,the fuzzy technology was combined with PID control,and a self-tuning fuzzy PID controller was designed through the fuzzy control toolbox of Matlab.Finally,the simulation models of PID control,fuzzy control and self-tuning fuzzy PID control were established by using Simulink environment,and the grasping force control simulation of different algorithms was realized.The simulation results show that the algorithm can make the system reach a stable state within 0.5 s,and the steady-state error is less than 0.5%.When the rope rebounds,it can compensate the grasping force within 0.3 s,and has good dynamic performance,which meets the requirements of stable grasping of the target.

关 键 词：绳驱动机械手 直流电机 Padé降阶 自整定模糊PID SIMULINK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]