基于自耦PID的三连杆机械臂轨迹跟踪控制  

Trajectory Tracking Control of Three-Link Manipulator Based on Auto-Coupling PID

作　　者：陈丽秋 曾喆昭[1] CHEN Liqiu;ZENG Zhezhao(Changsha University of Science and Technology,Changsha 410114,China)

机构地区：[1]长沙理工大学,长沙410114

出　　处：《空间控制技术与应用》2022年第4期70-77,共8页Aerospace Control and Application

基　　金：国家自然科学基金项目(61040049);湖南省教育厅重点项目(21A0183)。

摘　　要：针对三连杆机械臂轨迹跟踪问题,使用了一种自耦PID,即ACPID(auto-coupling proportional-integration-differential)控制方法.该方法将三连杆机械臂各关节已知或未知动态和外部扰动等复杂因素分别定义为3个总扰动,进而将各关节非线性系统映射为未知线性系统,根据ACPID控制理论,为三连杆机械臂系统分别建立3个ACPID控制子系统,以实现各关节的独立跟踪控制.分析了各闭环控制子系统均具备良好的鲁棒稳定性和抗扰动鲁棒性.仿真结果验证了本方法的有效性,在机械臂轨迹跟踪控制领域具有重要的应用前景.Aiming at the trajectory tracking problem of three-link manipulator,an auto-coupling PID control theory method was used.In this method,the known or unknown dynamics and external disturbances of each joint of the three-link manipulator were defined as three total disturbances,and then the nonlinear system of each joint was mapped to an unknown linear system.According to the auto-coupling PID control theory,three auto-coupling PID control subsystems were established for the three-link manipulator system to realize the independent tracking control of each joint.It was analyzed that each closed-loop control subsystem had good robust stability and anti-disturbance robustness.The simulation results verified the effectiveness of the proposed method and had important application prospects in the field of manipulator trajectory tracking control.

关 键 词：机械臂 自耦PID控制 鲁棒稳定性 抗扰动鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]