| 机器人轨迹跟踪改进PD控制研究 |
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| 引用本文： | 刘微容,李二超,李炜.机器人轨迹跟踪改进PD控制研究[J].电气应用,2007,26(6):89-91. |
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| 作者姓名： | 刘微容 李二超 李炜 |
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| 作者单位： | 兰州理工大学电气与信息工程学院,730050 |
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| 摘 要： | 针对机器人的特征参数在运动过程中随工况变化及外界干扰产生大幅度变化的问题,采用模糊自校正PD控制的基础上引入智能积分环节,设计了一种用于机器人轨迹跟踪的模糊自校正PD控制器.仿真和实验结果表明,该控制方案能实现较高精度的快速轨迹跟踪,同时可消弱或避免PD控制中的振荡现象和稳态误差.系统对参数摄动和外界干扰具有较强的鲁棒性.
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| 关 键 词： | 机器人 模糊控制 PD控制 智能积分 |
| 修稿时间： | 2006年10月11 |
The Improvement of Fuzzy Control of Path Tracking of the Robot |
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| Liu Weirong Lanzhou University of Technology.The Improvement of Fuzzy Control of Path Tracking of the Robot[J].Electrotechnical Application,2007,26(6):89-91. |
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| Authors: | Liu Weirong Lanzhou University of Technology |
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| Affiliation: | Liu Weirong Lanzhou University of Technology |
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| Abstract: | Aimed at the control problems of driving robot,a fuzzy PD controller was developed by introducing a intelligent integrator in order to achieve high accuracy path tracking of the robot .The simulation result shows that this control scheme can rapidly achieve the path tracking in high precision ,the steady-state error and ultimate oscillatory phenomenon which is inherent to the PD control is weaken or avoided . Control system exhibits strong robustness to parameter variations and external disturbances. |
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| Keywords: | robot Fuzzy control PD control intelligent integrator |
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