力控法兰的模糊PID恒力控制方法

发布时间：2018-01-12 07:29

本文关键词：力控法兰的模糊PID恒力控制方法　出处：《振动.测试与诊断》2017年04期 　论文类型：期刊论文

【摘要】：针对工业机器人进行接触式作业过程中对末端接触力的要求,提出了一种基于力控法兰的末端恒力控制方法。对力控法兰进行了分析建模与参数辨识,设计了模糊控制与比例积分微分(proportion integral derivative,简称PID)控制并行的模糊PID控制器,通过Matlab仿真对纯模糊控制与模糊PID控制效果进行了对比,并研究了模糊PID控制器各参数对控制性能的影响。最后,搭建了基于Labview和外部设备互连(peripheral component interconnect,简称PCI)总线数据采集卡的实验平台,对力控法兰末端输出力进行了实验验证。仿真结果表明,纯模糊控制可提高系统响应性能,但存在一定的稳态误差。加入PID控制与模糊控制并行控制后,仿真与实验证明,阶跃响应的稳态误差消除,正弦跟随效果明显改善,恒力控制输出力在期望力F=10N时波动误差为±0.8N。因此,通过模糊PID控制可实现力控法兰末端的恒力控制,具有较好的动态响应性和跟随鲁棒性。
[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 卤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.
【作者单位】：苏州大学机器人与微系统研究中心;浙江工业大学信息工程学院;
【基金】：国家科技支撑计划资助项目(2015BAF10B00)
【分类号】：TP273.4
【正文快照】： 引言随着工业机器人的快速发展,其在各工业领域的应用越来越广泛[1]。一些接触式作业场合,要求工业机器人具有对接触力的感知与控制能力,以达到精密操作的要求,例如,磨削、抛光和装配作业等[2-3]。在进行磨抛作业时,加工工具随着使用而发生磨损,产生表面位置误差[4],使接触力

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