基于IMFAPC的二自由度柔性机械臂轨迹跟踪控制
Trajectory tracking control of a two degree of freedom flexible robotic arm based on IMFAPC
高兴泉 1郭峰 2范砚策2
作者信息
- 1. 吉林工业职业技术学院信息工程学院,吉林吉林 132013;吉林化工学院信息与控制工程学院,吉林吉林 132022
- 2. 吉林化工学院信息与控制工程学院,吉林吉林 132022
- 折叠
摘要
针对二自由度柔性机械臂轨迹跟踪误差大、易产生抖振问题,提出了一种改进无模型自适应预测控制(Improve Model-Free Adaptive Predictive Control,IMFAPC)方法.首先在控制律中增加了对误差变化率的限制,并对误差变化率的差分也进行了限制.其次,设计时变参数的估计与预测机制,引入I/O数据信息预测未来时刻系统控制输入,从而有效解决二自由度柔性机械臂轨迹跟踪过程易振荡和发散问题,明显提高了对目标轨迹的跟踪精度且有效降低了柔性臂的弹性抖振.最后,经过仿真和实验验证了本文所提方法的有效性.
Abstract
An improved Model Free Adaptive Predictive Control(IMFAPC)method is proposed to address the issues of large trajectory tracking errors and susceptibility to chattering in a two degree of freedom flexible robotic arm.Firstly,a limitation on the rate of error change was add-ed to the control law,and the difference in the rate of error change was also limited.Secondly,an estimation and prediction algorithm for time-varying parameters is designed,and I/O data in-formation is introduced to predict future system control inputs,effectively solving the problem of oscillation and divergence in the second-order integration link of a two degree of freedom flexible robotic arm system.Finally,the effectiveness of the improved algorithm proposed in this study was verified through simulation and physical platform experiments.
关键词
二自由度柔性机械臂/轨迹跟踪/IMFAPC/降低抖振Key words
Two degree of freedom flexible robotic arm/Track tracking/IMFAPC/Anti vibra-tion引用本文复制引用
基金项目
&&(212551GX010288291)
&&(JJKH20200252K)
出版年
2024
NETL
NSTL
万方数据