气动机械手稳定运动的控制策略综述

气动机械手由于具有驱动介质来源方便、成本低、工作环境要求低等优点,已经在自动搬运、自动上下料等场合中有着广泛的应用;但是由于自身非线性特性,其工作速度稳定性较差。从模糊控制、神经网络控制以及鲁棒控制3个方向分析了气动机械手稳定运动控制策略的研究及应用,发现模糊控制和神经网络控制发展较为迅速,与其他控制理论融合的效果良好且实际应用比较成熟,而鲁棒控制发展较为缓慢且应用较少。根据现有研究成果推测,气动机械手稳定运动控制策略在未来将继续沿着控制理论融合与补充的趋势发展,为气动机械手在复杂动态环境的应用提供更精准、更稳定的控制方案。

Review of Control Strategy for Steady Movement of Pneumatic Manipulator

Pneumatic manipulators have been widely used in automatic handling, automatic loading and unloading and other occasions due to the advantages of convenient driving medium source, low cost, and low working environment requirements. However, the stability of the working speed is poor because of its own nonlinear characteristics. In this paper, we analyze the research and application of stable motion control strategies for pneumatic manipulators from three directions: fuzzy control, neural network control, and robust control, and we conclude that fuzzy control and neural network control develop rapidly, integrate well with other control theories and have more mature practical applications, while robust control develops more slowly and has fewer applications. Based on the existing research results, we also speculate that the stable motion control strategy of pneumatic manipulator will continue to develop along the trend of integration and supplement of control theory in the future, providing more accurate and stable control scheme for the application of pneumatic manipulator in complex dynamic environment.