摘要
为了提高工业机械手自动化控制能力,提出工业机械手自动化控制系统设计方法。构建工业机械手控制系统结构模型,采用Kalman滤波方法进行工业机械手的结构参数辨识,对机械手的控制约束参数进行分析,建立机械臂的参数辨识模型,实现机械手控制律设计,采用模糊PID稳态控制器实现对工业机械手自动化控制参数优化配置,提高自适应控制性能。设计仿真实验,结果表明:采用该方法进行工业机械手自动化控制的输出稳态性较好,误差较小,姿态参数的自适应控制能力较强。
In order to improve the automation control ability of industrial manipulator, a design method for industrial manipulator automation control system is proposed. The structure model of industrial manipulator control system is constructed. The structural parameters of industrial manipulator are identified by Kalman filter method. The control constraint parameters of manipulator are analyzed. The parameter identification model of manipulator is established to realize the design of manipulator control law. Fuzzy PID stable controller is used to optimize the configuration of industrial manipulator automatic control parameters and improve adaptive control performance. The simulation results show that the output stability is good, the error is small, and the adaptive control ability of attitude parameters is strong.
作者
李世强
王霞
LI Shi-qiang;WANG Xia(Industrial Internet Innovation Center(Shanghai)Co.,Ltd.,Shanghai 201303 China)
出处
《自动化技术与应用》
2022年第10期1-5,27,共6页
Techniques of Automation and Applications
关键词
工业机械手
自动化控制
模糊PID稳态控制器
自适应调节
industrial manipulator
automatic control
fuzzy PID steady state controller
adaptive adjustment
