摘要
随着机械手在制造工业上越来越广泛的应用,工艺环境对其控制性能也提出了越来越高的要求,包括提高响应快速性和改善跟踪精度等。针对传统PID控制器超调量过大、转换时间过长等缺点,提出了一种基于时间最优理论的控制算法。在能量约束条件下,求取了最优控制律下机械手作动所需要的最小时间表达式。计算机仿真结果表明,相比传统的PID控制方案,所提出的控制方案可实现机械手较快地精确跟踪,因而提高了产品性能,优化了设计流程,同时具有较高的应用价值。
With manipulator is more and more widely used in the manufacturing industry, its control performances are required by process environment with more and more expectations, which is included increasing response speed and improving tracking accuracy. Because the traditional PID controller possesses large overshoot, long conversion time and other shortcomings, the control algorithm is proposed based on the time optimal theory. Under the condition of energy confinement, the expression of required minimum time is computed with the effect of optimal control law. Simulation results show that, compared with traditional PID control scheme, the proposed control scheme can achieve accurate tracking of manipulator quickly. Therefore, it enhances product performance, optimizes the design process, and also possesses a high application value.
出处
《机械设计与制造》
北大核心
2014年第6期137-139,142,共4页
Machinery Design & Manufacture
基金
河南省科技计划项目(122102210002)
关键词
机械手
最优控制
时间最优
PID
精确跟踪
Manipulator
Optimal Control
Time optimization
PID
Accurate Tracking
