| 基于无模型控制理论的机械臂运动控制 |
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| 引用本文： | 马金平,李刚,宋振东,何元一,孙乾城.基于无模型控制理论的机械臂运动控制[J].深圳职业技术学院学报,2021(1). |
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| 作者姓名： | 马金平 李刚 宋振东 何元一 孙乾城 |
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| 作者单位： | 深圳职业技术学院机电工程学院;沈阳新松机器人自动化股份有限公司中央研究院 |
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| 基金项目： | 国家重点研发计划--政府间国际科技创新合作重点专项--智能工厂资产可靠性数据采集与预防性维护(2017YFE0101200);广东省教育厅青年创新科研项目--面向复杂环境的智能拆迁机器人遥操作协调控制研究(6019210033K)部分成果. |
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| 摘 要： | 工业串联机械臂是工业机器人的一种,由多个关节串联而成.由于关节较多,机械臂在运动过程中各关节运动误差不断叠加,导致机械臂末端执行器误差较大.为了更加精确控制机械臂运动,文章在分析微分先行PID算法的基础上,结合HOOKE搜索法,改进了原始人造鱼群优化算法.基于传统无模型控制理论,提出一种改进的无模型控制算法,并进行了相关仿真分析.仿真结果表明,改进后的人造鱼群优化算法具有较高的准确性,收敛速度大大加快,改进后的无模型自适应算法,具有较好的鲁棒性,系统跟踪误差明显降低。
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| 关 键 词： | 工业机械臂 微分先行PID 无模型控制 仿真分析 |
Motion Control of Industrial Manipulator Based on Model-free Control Theory |
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| MA Jinping,LI Gang,SONG Zhendong,HE Yuanyi,SUN Qiancheng.Motion Control of Industrial Manipulator Based on Model-free Control Theory[J].Journal of Shenzhen Polytechnic,2021(1). |
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| Authors: | MA Jinping LI Gang SONG Zhendong HE Yuanyi SUN Qiancheng |
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| Institution: | (School of Mechatronic Engineering,Shenzhen Polytechnic,Shenzhen,Guangdong 518055;SLASUN Robot&Automation Co.,Ltd,Shenyang,Liaoning 110168,China) |
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| Abstract: | Industrial manipulator is a kind of industrial robot,which is formed by multiple joints connected in series.Due to the large number of joints,the motion errors of various joints accumulate continuously during the movement of the robot arm,resulting in a large error of the end effector.In order to control the movement of the manipulator more accurately,the original artificial fish swarm optimization algorithm is improved based on the analysis of the differential advanced PID algorithm,combined with the HOOK E search method.Based on the traditional model-free control theory,an improved model-free control algorithm is proposed.The relevant simulation analysis is carried out.The simulation results show that the improved artificial fish swarm optimization algorithm has high accuracy and the convergence speed is greatly accelerated.The improved model-free adaptive algorithm has good robustness,and the tracking error of the system is significantly reduced. |
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| Keywords: | industrial manipulator differential advance PID model-free control algorithm simulation analysis |
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