[1]王宏涛,蒋汶松.基于混合型伸缩因子的机械臂控制优化研究[J].应用科技,2019,46(05):22-27.[doi:10.11991/yykj.201901003]
 WANG Hongtao,JIANG Wensong.Research on the control of manipulator based on mixed contraction-expansion factor[J].Applied science and technology,2019,46(05):22-27.[doi:10.11991/yykj.201901003]
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基于混合型伸缩因子的机械臂控制优化研究(/HTML)
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《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
第46卷
期数:
2019年05期
页码:
22-27
栏目:
机电工程
出版日期:
2019-09-05

文章信息/Info

Title:
Research on the control of manipulator based on mixed contraction-expansion factor
作者:
王宏涛 蒋汶松
南京航空航天大学 机电学院, 江苏 南京 210016
Author(s):
WANG Hongtao JIANG Wensong
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
关键词:
伸缩因子机械臂三关节轨迹跟踪变论域模糊控制MATLAB仿真控制精度
Keywords:
contraction-expansion factormanipulatorthree joinstrajectory trackingvariable universefuzzy controlMATLAB simulationcontrol accuracy
分类号:
TP241.2
DOI:
10.11991/yykj.201901003
文献标志码:
A
摘要:
为了实现三关节机械臂的轨迹跟踪控制,提出了一种变论域模糊控制方法,设计了一种不依赖被控对象精确数学模型的变论域模糊控制器。该控制器引入一种新的混合型伸缩因子,选择机械臂期望关节角度与实际关节角度的差值作为偏差,利用偏差和偏差的变化作为输入量来自动调整论域。运用MATLAB软件对采用该控制器的三关节机械臂轨迹跟踪控制进行仿真分析,并与采用指数型伸缩因子的变论域模糊控制器的仿真结果进行对比。结果表明,所设计的混合型伸缩因子的变论域模糊控制器在机械臂轨迹跟踪中的控制精度更高,稳态误差小,且响应速度快、无超调。
Abstract:
In order to control the trajectory tracking of the three-joint manipulator, we propose a variable universe fuzzy control method, and design a variable universe fuzzy controller which is independent of the precise mathematical model of the controlled object. A mixed contraction-expansion factor is introduced into the controller to adjust the universe automatically. The deviation between the desired and actual joint angles and the variation of such deviation are defined as the input values of the controller. The trajectory tracking control of a three-joint manipulator using this controller is simulated and analyzed by MATLAB, and the simulation results are compared with those of a variable universe fuzzy controller using exponential expansion factor. The results show that the variable universe fuzzy controller using mixed contraction-expansion factor has the advantage of better precision, small steady-state error, faster response speed and no overshoot in trajectory tracking control.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2019-01-14。
作者简介:王宏涛,女,教授,博士;蒋汶松,男,硕士研究生
通讯作者:王宏涛,E-mail:meehtwang@nuaa.edu.cn
更新日期/Last Update: 2019-08-29