基于DSP的机械臂约束预测控制系统设计

针对机械臂的实时控制问题,基于约束预测控制,提出了一种机械臂实时运动控制方法。介绍了机械臂动力学模型并进行了线性化处理,以降低算法复杂度、保证实时性。设计了轨迹跟踪控制器和约束预测控制器,其中轨迹跟踪控制器采用最优反馈控制律,可确保机械臂按参考轨迹运动;而约束预测控制器则在考虑机械臂物理约束的情况下,为跟踪控制器提供最优参考轨迹。以DSP作为核心控制器,搭建了机械臂控制系统,同时给出了硬件和软件设计方法。以梯形和三次多项式轨迹为例,进行了系统功能测试,测试结果表明了所述控制系统的可行性和有效性。

Design of Constrained Predictive Control System forManipulators Based on DSP

Aimed at the problem of real-time control for manipulators, a novel control method is proposed based on constrained predictive control. The dynamic model of manipulators is introduced and its linearization is conducted to reduce algorithm complexity and guarantee real-time. The trajectory tracking controller and constraint predictive controller are designed. The trajectory tracking controller with optimal feedback control law can ensure manipulator motion according to the reference trajectory. The constrained predictive controller with consideration of the physical constraints can provide an optimal reference trajectory for tracking controllers. The manipulators control system is set With DSP as the core controller and the hardware and software design method are presented. The system function tests are carried on with examples of Trapezoidal and cubic polynomial trajectory. The test results show that the control system described has feasibility and effectiveness.