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针对直接驱动机械臂惯量大范围变化的问题,设计了一种模型参考模糊补偿器.实时控制结果表明,它与PI控制器相结合,能有效地克服直接驱动机械臂系统变参数因素的影响,保证系统具有良好的动态特性.提出的控制方案既提高了系统的鲁棒性,又可以获得满意的控制性能.
In order to solve the problem of large-scale change of inertia moment of direct-driven manipulator, a model reference fuzzy compensator is designed.The real-time control results show that it can effectively overcome the influence of variable parameters of the direct-driven manipulator system by combining it with PI controller, Guarantee the system has good dynamic characteristics.The proposed control scheme not only improves the system robustness but also obtains the satisfactory control performance.