| 并联机构的动力学分析及其无模型智能控制 |
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| 引用本文： | 高国琴,宋庆,夏文娟. 并联机构的动力学分析及其无模型智能控制[J]. 机械设计与制造, 2011, 0(9) |
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| 作者姓名： | 高国琴 宋庆 夏文娟 |
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| 作者单位： | 江苏大学电气信息工程学院,镇江,212013 |
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| 基金项目： | 江苏省自然科学基金资助项目(BK2009202) |
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| 摘 要： | 为解决并联机器人高度非线性、强耦合、数学模型复杂的问题,针对交流伺服电机驱动的并联机器人,在模型不确定情况下提出了一种针对2-DOF并联机器人的智能控制方法,设计了一个二输入的模糊控制器,该控制方法不需要前向运动学的求解。通过模糊控制器对PID参数进行实时整定,基于MATLAB进行动态仿真,仿真结果表明:模糊PID在轨迹跟综和带负荷运动的稳定性方面比线性PID具有更好的控制效果,可实现并联机器人的高精度实时控制。
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| 关 键 词： | 并联机构 模糊控制 PID控制 无模型控制 |
Dynamic analysis of parallel mechanism and its model-free intelligent control |
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| GAO Guo-qin,SONG Qing,XIA Wen-juan. Dynamic analysis of parallel mechanism and its model-free intelligent control[J]. Machinery Design & Manufacture, 2011, 0(9) |
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| Authors: | GAO Guo-qin SONG Qing XIA Wen-juan |
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| Affiliation: | GAO Guo-qin,SONG Qing,XIA Wen-juan (School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China) |
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| Abstract: | It illustrates an application of intelligent control for a 2-DOF parallel robot in order to solve the problems of Parallel robot's high nonlinearity,strong coupling and mathematical model complex,specific to the parallel robot mechanism with AC servo-motor drive-GPM-200 parallel mechanism.Under the conditions of model free without using the forward kinematics of the manipulator,a three dimensional fuzzy PID controller is designed,which performance is compared with a linear PID controller.The dynamic simulat... |
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| Keywords: | Parallel mechanism Fuzzy control PID control Model free control |
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