本文關(guān)鍵詞：力控法蘭的模糊PID恒力控制方法　出處：《振動.測試與診斷》2017年04期 　論文類型：期刊論文

  更多相關(guān)文章： 力控法蘭 恒力控制 實(shí)驗(yàn)測定法 模糊PID控制

【摘要】：針對工業(yè)機(jī)器人進(jìn)行接觸式作業(yè)過程中對末端接觸力的要求,提出了一種基于力控法蘭的末端恒力控制方法。對力控法蘭進(jìn)行了分析建模與參數(shù)辨識,設(shè)計(jì)了模糊控制與比例積分微分(proportion integral derivative,簡稱PID)控制并行的模糊PID控制器,通過Matlab仿真對純模糊控制與模糊PID控制效果進(jìn)行了對比,并研究了模糊PID控制器各參數(shù)對控制性能的影響。最后,搭建了基于Labview和外部設(shè)備互連(peripheral component interconnect,簡稱PCI)總線數(shù)據(jù)采集卡的實(shí)驗(yàn)平臺,對力控法蘭末端輸出力進(jìn)行了實(shí)驗(yàn)驗(yàn)證。仿真結(jié)果表明,純模糊控制可提高系統(tǒng)響應(yīng)性能,但存在一定的穩(wěn)態(tài)誤差。加入PID控制與模糊控制并行控制后,仿真與實(shí)驗(yàn)證明,階躍響應(yīng)的穩(wěn)態(tài)誤差消除,正弦跟隨效果明顯改善,恒力控制輸出力在期望力F=10N時波動誤差為±0.8N。因此,通過模糊PID控制可實(shí)現(xiàn)力控法蘭末端的恒力控制,具有較好的動態(tài)響應(yīng)性和跟隨魯棒性。
[Abstract]:In order to meet the requirement of the terminal contact force in the process of industrial robot contact operation, a constant force control method based on the force control flange is proposed. The analysis modeling and parameter identification of the force control flange are carried out. A parallel fuzzy PID controller is designed for fuzzy control and proportional integro-differential proportion integral derivation. The effects of pure fuzzy control and fuzzy PID control are compared by Matlab simulation, and the influence of the parameters of fuzzy PID controller on the control performance is studied. The peripheral component interconnect is built based on Labview and external equipment interconnection. The experiment platform of PCI bus data acquisition card is used to verify the output force at the end of the flange. The simulation results show that the pure fuzzy control can improve the response performance of the system. But there is a certain steady-state error. After adding PID control and fuzzy control, the simulation and experiment show that the steady-state error of step response is eliminated, and the sinusoidal follow effect is improved obviously. The fluctuation error of output force of constant force control is 鹵0.8Nwhen the expected force is 10 N. Therefore, the constant force control of flange end can be realized by fuzzy PID control. It has better dynamic response and following robustness.
【作者單位】： 蘇州大學(xué)機(jī)器人與微系統(tǒng)研究中心;浙江工業(yè)大學(xué)信息工程學(xué)院;
【基金】：國家科技支撐計(jì)劃資助項(xiàng)目(2015BAF10B00)
【分類號】：TP273.4
【正文快照】： 引言隨著工業(yè)機(jī)器人的快速發(fā)展,其在各工業(yè)領(lǐng)域的應(yīng)用越來越廣泛[1]。一些接觸式作業(yè)場合,要求工業(yè)機(jī)器人具有對接觸力的感知與控制能力,以達(dá)到精密操作的要求,例如,磨削、拋光和裝配作業(yè)等[2-3]。在進(jìn)行磨拋?zhàn)鳂I(yè)時,加工工具隨著使用而發(fā)生磨損,產(chǎn)生表面位置誤差[4],使接觸力

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1 何偉崇;面向機(jī)器人拋光打磨的一維恒力裝置及控制系統(tǒng)[D];廣東工業(yè)大學(xué);2016年

2 馬元元;柔性恒力機(jī)械手的設(shè)計(jì)[D];西安電子科技大學(xué);2015年

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