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利用操作器动力学模型的性质,提出了一种前馈补偿加PID反馈控制的自适应控制方案.由于在控制力矩中引入积分项,使操作器关节的跟踪精度和抗干扰能力得到提高.本文分析了摩擦干扰和执行机构的惯性对控制方案的影响.本文进一步的研究表明:在许多情况下,只需对操作器动力学中耦合和非线性最强的项进行补偿,然后加PID反馈控制,就能取得较好的控制效果.从而简化了控制方案,以PUMA560的前三个关节的参数作模型,对文中的方法进行了仿真.
Based on the nature of the manipulator dynamics model, an adaptive control scheme of feedforward compensation plus PID feedback control is proposed. Since the integral term is introduced into the control torque, the tracking precision and antijamming ability of the manipulator are improved. The influence of frictional disturbance and inertia of the actuator on the control scheme is analyzed.The further research shows that in many cases, only the coupling and non-linearity items in operator dynamics need to be compensated, and then PID feedback control , We can get a better control effect.Thus simplifying the control scheme, using the parameters of the first three joints of PUMA560 as a model, the method in this paper is simulated.