| 软腔体柔性机械臂的T-S模糊建模方法的研究 |
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| 引用本文： | 张雪莲,潘铁强,唐可洪,马晓丽.软腔体柔性机械臂的T-S模糊建模方法的研究[J].计算机测量与控制,2007,15(5):662-664. |
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| 作者姓名： | 张雪莲 潘铁强 唐可洪 马晓丽 |
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| 作者单位： | [1]浙江工业大学浙西分校机电控制工程系,浙江衢州324006 [2]浙江工业大学浙西分校信息与电子系,浙江衢州324006 [3]吉林大学机械科学与工程学院,吉林长春130025 |
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| 摘 要： | 提出一种利用T-S模糊模型的柔性机械臂建模方法;柔性机械臂是一个高度复杂、高度非线性、高度耦合的非线性时变系统,而模糊模型本质上是一种非线性模型,可以任意精度逼近任何非线性系统;利用减法聚类算法离线辨识了T-S模型的前件参数,同时利用最小二乘法求得了T-S模型的后件参数;最后将模型的仿真结果和实验结果进行了对比分析,验证了模型的准确性;由此表明,柔性机械臂T-S模糊建模方法是有效的,它具有模糊模型的特点,可以任意精度逼近任何非线性系统,为柔性机械臂的模糊建模和下一步研究提供了理论指导及重要的前提条件.
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| 关 键 词： | 柔性机械臂 T-S模糊模型 减法聚类分析 最小二乘法 腔体 柔性机械臂 模糊建模方法 研究 Flexible Manipulator Cavity Soft Method of Research 条件 前提 指导 理论 验证 分析 仿真结果 实验 乘法 最小 参数 |
| 文章编号： | 1671-4598（2007）05-0662-03 |
| 收稿时间： | 2006-07-06 |
| 修稿时间： | 2006-07-062006-08-16 |
Research of Method of Establishing Soft Cavity Flexible Manipulator' s T-S Model |
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| Zhang Xuelian,Pan Tieqiang,Tang Kehong,Ma Xiaoli.Research of Method of Establishing Soft Cavity Flexible Manipulator'''' s T-S Model[J].Computer Measurement & Control,2007,15(5):662-664. |
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| Authors: | Zhang Xuelian Pan Tieqiang Tang Kehong Ma Xiaoli |
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| Affiliation: | 1. Depar. of Mecha. and Electrical Control Engi. , West--Zhe School, Zhejiang Unive. of Tech. , Quzhou 324006, China; 2. Depar. of Infor. and Electrical Engi. , West-Zhe School, Zhejiang Unive. of Tech. , Quzhou 324006, China; 3. College of Mechanical Science and Engineering, Jilin University, Changchun 130025, China |
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| Abstract: | Utilizing the Takagi-Sugeno fuzzy model to make a model of flexible manipulator is proposed.The flexible manipulator is a nonlinear time-varying system with highly complex,nonlinear and cooperated characters.It can approach any nonlinear system in any precision.Then use subtractive clustering analysis to identify the flexible manipulator's former rule condition and use least square method to get the later rule condition.At last,compared and analyzed simulation result with test result,we have proved the accuracy of the model.As a result,it is effective Utilizing the Takagi-Sugeno fuzzy model to make a model of flexible manipulator.This method has the characters of fuzzy model and it can approach any nonlinear system in any precision.This has offered theoretical direction and important precondition for next research of fuzzy modeling of the flexible manipulator. |
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| Keywords: | flexible manipulator T-S fuzzy model subtractive clustering analysis least square method |
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