基于模糊PD型输入迭代学习的工业机器人轨迹跟踪控制
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摘要
针对工程应用中工业机器人的内置控制器在确定其结构和控制参数后一般不能修改的问题,提出一种基于机器人内置控制器的模糊比例—微分(PD)型输入迭代学习轨迹跟踪控制方法。利用跟踪误差及其导数构建控制律,控制参数采用模糊增益调整型进行自整定,无需根据轨迹反复调整,并将迭代学习量叠加到轨迹输入中,通过更新实际轨迹输入来提高目标轨迹的跟踪精度。MATLAB/SIMULINK仿真和六自由度工业机器人实验结果表明:提出的方法能够在不影响机器人内置控制器稳定性的基础上,实现更高精度的轨迹跟踪。
Aiming at the problem that the built-in controller of industrial robot in engineering application can not be modified after its structure and control parameters are determined,a fuzzy PD-type input iterative learning trajectory tracking control method based on built-in controller of robot is proposed. The method uses tracking error and its derivatives to construct the control law,and the control parameters are self-adjusted by fuzzy gain adjustment without need repeatedly adjust according to different trajectories. The iterative learning quantity is added to the trajectory input,and the actual trajectory input is updated so as to improve the tracking precision of target trajectory. The results of MATLAB/SIMULINK simulation and six degrees of freedom industrial robots experiment show that this method can achieve more accurate trajectory tracking without affecting the stability of the built-in controller of robot.
Aiming at the problem that the built-in controller of industrial robot in engineering application can not be modified after its structure and control parameters are determined,a fuzzy PD-type input iterative learning trajectory tracking control method based on built-in controller of robot is proposed. The method uses tracking error and its derivatives to construct the control law,and the control parameters are self-adjusted by fuzzy gain adjustment without need repeatedly adjust according to different trajectories. The iterative learning quantity is added to the trajectory input,and the actual trajectory input is updated so as to improve the tracking precision of target trajectory. The results of MATLAB/SIMULINK simulation and six degrees of freedom industrial robots experiment show that this method can achieve more accurate trajectory tracking without affecting the stability of the built-in controller of robot.
引文
[1]谢胜利,田森平,谢振东.迭代学习控制的理论与应用[M].北京:科学出版社,2005.
[2]Liu Z J,Liu J K,He W.An adaptive iterative learning algorithm for boundary control of a flexible manipulator[J].International Journal of Adaptive Control and Signal Processing,2017,31(6):903-916.
[3]罗召成,朱世强,王会方.机器人自适应PID饱和输出反馈控制[J].传感器与微系统,2012,31(3):66-70.
[4]李战明,艾文欢,陈若珠.倒立摆的迭代学习控制方法研究[J].传感器与微系统,2008,27(4):41-43.
[5]Tayebi A.Adaptive iterative learning control for robot manipulators[J].Automatica,2004,40(7):1195-1203.
[6]Tayebi A,Islam S.Adaptive iterative learning control for robot manipulators:Experimental results[J].Control Engineering Practice,2006,14(7):843-851.
[7]Delchev K.Iterative learning control for robotic manipulators:Abounded-error algorithm[J].International Journal of Adaptive Control and Signal Processing,2014,28(12):1454-1473.
[8]Ouyang P R,Zhang W J,Gupta M M.An adaptive switching learning control method for trajectory tracking of robot manipulators[J].Mechatronics,2006,16(1):51-61.
[9]刘松国.六自由度串联机器人运动优化与轨迹跟踪控制研究[D].杭州:浙江大学,2009.
[10]孙航,韩红霞,曹立华,等.大型光电经纬仪速度环PID参数模糊自整定研究[J].仪器仪表学报,2013,34(10):2388-2394.
[11]刘金棍.机器人控制系统的设计与MATLAB仿真[M].北京:清华大学出版社,2008.
[2]Liu Z J,Liu J K,He W.An adaptive iterative learning algorithm for boundary control of a flexible manipulator[J].International Journal of Adaptive Control and Signal Processing,2017,31(6):903-916.
[3]罗召成,朱世强,王会方.机器人自适应PID饱和输出反馈控制[J].传感器与微系统,2012,31(3):66-70.
[4]李战明,艾文欢,陈若珠.倒立摆的迭代学习控制方法研究[J].传感器与微系统,2008,27(4):41-43.
[5]Tayebi A.Adaptive iterative learning control for robot manipulators[J].Automatica,2004,40(7):1195-1203.
[6]Tayebi A,Islam S.Adaptive iterative learning control for robot manipulators:Experimental results[J].Control Engineering Practice,2006,14(7):843-851.
[7]Delchev K.Iterative learning control for robotic manipulators:Abounded-error algorithm[J].International Journal of Adaptive Control and Signal Processing,2014,28(12):1454-1473.
[8]Ouyang P R,Zhang W J,Gupta M M.An adaptive switching learning control method for trajectory tracking of robot manipulators[J].Mechatronics,2006,16(1):51-61.
[9]刘松国.六自由度串联机器人运动优化与轨迹跟踪控制研究[D].杭州:浙江大学,2009.
[10]孙航,韩红霞,曹立华,等.大型光电经纬仪速度环PID参数模糊自整定研究[J].仪器仪表学报,2013,34(10):2388-2394.
[11]刘金棍.机器人控制系统的设计与MATLAB仿真[M].北京:清华大学出版社,2008.