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机械臂系统是近十几年来出现的一种工业技术设备,由于多连杆机械臂系统的非线性特性以及强耦合性,使得多连杆机械臂系统的稳定控制一直是一个难点;现有的机械臂控制系统大多跟踪误差较大,而且易受外界扰动的干扰,所以用传统的PID或者简单反馈控制实际效果很难让人满意。文章选取两连杆机械臂系统作为对象,通过反馈线性化处理以及状态反馈的参数选取,并通过Matlab对系统的跟踪控制效果进行仿真。文章所采取的控制器设计方法的创新点在于不仅保证闭环系统稳定,所有状态有界,跟踪误差最终有界,并且当系统具有不确定性和外界干扰时具有比较强的鲁棒性,同时对实践也具有较强的指导意义。
Mechanical arm system is a kind of industrial technical equipment that appeared in recent ten years. Due to the nonlinear characteristic and strong coupling of multi-link manipulator system, it has been a difficult point to control the stability of multi-link manipulator system. Most of the manipulator control system tracking error is large, and susceptible to disturbance disturbance, so with the traditional PID or simple feedback control of the actual results is not satisfactory. The article chooses the two-link manipulator system as the object, selects the parameters through feedback linearization and state feedback, and simulates the tracking control effect of the system by Matlab. The innovation of the controller design method adopted in this paper is not only to ensure the closed-loop system stability, all states are bounded, the tracking error is ultimately bounded, and robust when the system has the uncertainty and external disturbance, Practice also has strong guiding significance.