结合模糊自整定的机械臂鲁棒PD控制器研究  

Research on Robust PD Controller of Manipulator Based on Fuzzy Self-Adjustment

作　　者：董凡 高宏力[1] 郭亮[1] 杨恺 DONG Fan;GAO Hong-li;GUO Liang;YANG Kai(School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械设计与制造》2022年第1期128-131,共4页Machinery Design & Manufacture

基　　金：中央高校基本科研专项基金(2018GF02);中央高校基本科研专项基金(2682019CX35)。

摘　　要：针对多自由度机械臂控制系统存在的高度非线性、强时变性、强耦合性等问题,提出了一种基于模糊自整定的鲁棒PD控制策略,引入模糊控制器替代传统PD控制的参数整定过程,实现PD参数的在线自调整功能,并设计鲁棒自适应补偿器,将鲁棒算法和自适应算法相结合以补偿系统的不确定性。引入Lyapunov函数验证了控制系统的稳定性,并通过Matlab环境下的Simulink仿真研究,验证了此控制策略的轨迹跟踪误差收敛速度较快,提高了系统的鲁棒性和学习能力,具备应用在复杂的机械臂控制系统的可行性。A robustPD control strategy based on fuzzy self-adjustment is proposed for the problems about high nonlinearity,strong time-varying and strong coupling in the multi-degree-of-freedom manipulator control system.The fuzzy controller is introduced to replace the parameter adjustment process of the traditional PD control,in order to achieve the online self-adjustment function of the PD parameters.And design a robust adaptive compensator that combines robust and adaptive algorithms to compensate for system uncertainty.Then prove the stability of the control system by using Lyapunov function,and the simulation study of Matlab is used to verify that the trajectory tracking error of this control strategy converges quickly,the control system has good robustness and learning ability,and has the feasibility of being applied to complex mechanical arm control systems.

关 键 词：机械臂 模糊自整定 鲁棒自适应控制 PD控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]