基于超声电机驱动的多关节机器人模糊自整定PID控制
Fuzzy auto-tuning PID control of multiple joint robot driven by ultrasonic motors.
作者信息
Sun Zhijun, Xing Rentao, Zhao Chunsheng, Huang Weiqing
机构信息
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Box 359, No. 29 Yu-dao-jie, Nanjing 210016, China.
出版信息
Ultrasonics. 2007 Nov;46(4):303-12. doi: 10.1016/j.ultras.2007.04.001. Epub 2007 Apr 21.
A three-joint robot is directly driven by ultrasonic motors with advantage of high torque at low speed. The speed of the ultrasonic motors is actually controlled by regulating their operating frequencies. The kinematic and kinetic analyses of the robot have been carried out using Adams. Due to the lack of accurate control model of ultrasonic motors and the time-varying motor parameters, a fuzzy auto-tuning proportional integral derivative (PID) controller for the robot is experimented, in which a simple method to tune parameters of the PID type fuzzy controller on-line is developed and a new position-speed feedback strategy is proposed and implemented. The effectiveness of the proposed control strategy and fuzzy logic controller is verified by experimental investigation.
一个三关节机器人由超声电机直接驱动，具有低速时扭矩大的优点。超声电机的速度实际上是通过调节其工作频率来控制的。已使用Adams对该机器人进行了运动学和动力学分析。由于缺乏超声电机的精确控制模型以及电机参数的时变性，对该机器人的模糊自整定比例积分微分（PID）控制器进行了实验，其中开发了一种在线调整PID型模糊控制器参数的简单方法，并提出并实施了一种新的位置-速度反馈策略。通过实验研究验证了所提出的控制策略和模糊逻辑控制器的有效性。
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