基于变论域模糊控制的自适应阻抗控制技术研究  

Research on adaptive impedance control technology based on variable universe fuzzy control

作　　者：孙嘉宾 戈海龙 董学富 成巍 李锦 SUN Jiabin;GE Hailong;DONG Xuefu;CHENG Wei;LI Jin(Laser Institute,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250104,CHN;Shandong Qiangyuan Laser of SDIIT Ltd.,Liaocheng 252022,CHN)

机构地区：[1]齐鲁工业大学(山东省科学院)山东省科学院激光研究所,山东济南250104 [2]山东产研强远激光科技有限公司,山东聊城252022

出　　处：《制造技术与机床》2025年第4期120-126,共7页Manufacturing Technology & Machine Tool

基　　金：山东省科技型中小企业创新能力提升工程项目“复杂汽车零部件多工序柔性输送与智能冲压制造装备研发及应用”(2023TSGC0357);山东省重点研发计划项目“高端激光坡口切割数控机床研发及产业化”(2022CXGC020205)。

摘　　要：针对机械臂在打磨、装配等力控作业场景中,传统模糊自适应阻抗控制方法存在响应速度慢、力控精度低和稳定性差等问题,提出一种结合变论域模糊控制的自适应阻抗控制方法。该方法在传统模糊自适应阻抗控制基础上,引入输入及输出模糊论域伸缩因子,并根据系统力控误差对伸缩因子进行动态控制,实现模糊论域的自适应划分,从而显著提高响应速度和控制精度。基于Simulink环境,分别建立了机械臂传统阻抗控制、模糊自适应阻抗控制和变论域模糊自适应阻抗控制模型。仿真对比结果表明,所提方法能够有效减少控制超调量、缩短调节时间,并对未知干扰具有更好的鲁棒性,具有一定实用价值。In force-controlled tasks such as polishing and assembly within robotic arm applications,conventional fuzzy adaptive impedance control methods often suffer from slow response speed,low force control accuracy,and poor stability.To address these issues,an adaptive impedance control method combined with variable universe fuzzy control was proposed.Based on traditional fuzzy adaptive impedance control,scaling factors for the input and output fuzzy universes were introduced.These scaling factors were dynamically controlled according to the system's force control errors,enabling adaptive partitioning of the fuzzy universe.This approach significantly improved response speed and control accuracy.Models for traditional impedance control,fuzzy adaptive impedance control,and variable universe fuzzy adaptive impedance control were established in the Simulink environment.Simulation comparisons demonstrate that the proposed method significantly reduces control overshoot and settling time,while also offering improved robustness against unknown disturbances,providing practical value.

关 键 词：机械臂 变论域模糊控制 伸缩因子 阻抗控制 SIMULINK 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]