基于解耦的工业机器人模糊PID抑振研究  

Research on Fuzzy PID Vibration Suppression of Industrial Robot Based on Decoupling

作　　者：戎新萍 徐海璐[1] 季春天 RONG Xinping;XU Hailu;JI Chuntian(College of Mechanical and Electrical Engineering,Pujiang Institute of Nanjing University of Technology,Nanjing 211200,China)

机构地区：[1]南京工业大学浦江学院机电学院,南京211200

出　　处：《自动化与仪表》2023年第8期40-45,共6页Automation & Instrumentation

基　　金：南京工业大学浦江学院重点课题项目(njpj2022103)。

摘　　要：该文针对工业机器人在定位过程中由于关节柔性产生的振动抑制问题,对六自由度的工业机器人进行研究,提出了基于解耦的柔性关节模糊PID抑振控制算法。首先,建立了工业机器人系统的动力学模型;然后,根据连杆之间的耦合关系设计了变参数模糊控制器,降低各连杆之间的耦合程度,并在解耦的基础上加入模糊PID控制器,对解耦后的各个关节进一步抑振;最后,通过Simulink仿真验证该算法的有效性。研究结果表明,变参数模糊解耦比定参数模糊解耦的效果更好,解耦之后的转台、大臂和小臂之间可以近似看成线性系统,再进行模糊PID控制,其抑振的效果相比传统PID控制器来说更为理想。Aiming at the problem of vibration suppression of industrial robot due to joint flexibility in the course of positioning,a flexible joint fuzzy PID control algorithm based on decoupling was proposed for industrial robots with six degrees of freedom.First,a dynamic model of an industrial robot system was established.Then,a fuzzy controller with variable parameters was designed to reduce the coupling degree between the links of the industrial robot,and a fuzzy PID controller was added on the basis of decoupling to further control the vibration of the decoupled joints.Finally,the validity of the control algorithm was verified by Simulink simulation.The results showed that the variableparameter fuzzy decoupling was better than the fixedparameter fuzzy decoupling.After the decoupling,the system between the turntable,the upper arm and the lower arm can be regarded as a linear system,then fuzzyPID controller is used,and its effect of vibration suppression is better than that of traditional PID controller.

关 键 词：工业机器人 模糊PID 解耦控制 振动抑制 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]