机器人模块化关节模糊自适应伺服控制系统的研究

doi:10.13190/jbupt.200705.37.zhangxd

北京邮电大学学报 ›› 2007, Vol. 30 ›› Issue (5): 37-40.doi: 10.13190/jbupt.200705.37.zhangxd

机器人模块化关节模糊自适应伺服控制系统的研究

张晓东, 孙汉旭, 贾庆轩，周留栓

(北京邮电大学自动化学院, 北京 100876)

收稿日期:2006-12-22 修回日期:2007-02-06 出版日期:2007-10-30 发布日期:2007-10-30
通讯作者: 张晓东

Research on Robot Modular Joint adaptive Fuzzy Servo Control System

ZHANG Xiao-dong, SUN Han-xu, JIA Qing-xuan, ZHOU Liu-shuan

(Dept. of Automation, Beijing University of posts and telecommunications, 100876, China)

Received:2006-12-22 Revised:2007-02-06 Online:2007-10-30 Published:2007-10-30
Contact: ZHANG Xiao-dong

摘要/Abstract

摘要：

针对常规的比例积分微分（PID）控制算法在机器人模块化关节轨迹跟踪控制系统中易于受到各种强干扰因素影响，提出了采用模糊自适应的方法，并且基于数字信号处理器（DSP）实现了PID参数的在线自整定。试验结果表明：采用模糊自适应的伺服控制方法同常规的增量式PID控制方法相比，提高了系统的动、静态特性和抗干扰能力，验证了该方法的有效性。

关键词: 比例积分微分, 自适应模糊系统, 模块化关节, 轨迹跟踪

Abstract:

In the robot modular joint trajectory tracking control system, traditional Proportion-integral-derivative (PID) algorithm is easy to be influenced by many kinds of disturbances. By using Fuzzy adaptive method, PID parameter online auto-tuning is realized based on the Digital Signal Processor (DSP) control system. The experiment results demonstrate that the method of Fuzzy adaptive servo control scheme, compared with conventional PID algorithm, will improve system’s properties and anti-disturbance abilities. Applications in modular joint servo control systems verify the effectiveness.

Key words: Proportion-integral-derivative, adaptive fuzzy system, modular joint, trajectory tracking

中图分类号:

TN492

张晓东, 孙汉旭, 贾庆轩，周留栓. 机器人模块化关节模糊自适应伺服控制系统的研究[J]. 北京邮电大学学报, 2007, 30(5): 37-40.

ZHANG Xiao-dong, SUN Han-xu, JIA Qing-xuan, ZHOU Liu-shuan. Research on Robot Modular Joint adaptive Fuzzy Servo Control System[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2007, 30(5): 37-40.

机器人模块化关节模糊自适应伺服控制系统的研究

Research on Robot Modular Joint adaptive Fuzzy Servo Control System

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