基于模糊PID的悬吊式机械臂重力补偿控制系统设计
2023,31(1):100-105
摘要：针对悬吊式机械臂在工作过程中受起吊荷载的影响而产生的重心不稳现象,在模糊PID控制算法的支持下,进行悬吊式机械臂重力补偿控制系统设计研究。硬件方面,改装主控制器、传感器和通信模块,加设重力补偿装置及驱动电机设备。在此基础上完成软件设计,根据机械臂的组成结构以及工作原理,构建悬吊式机械臂数学模型。在该模型下,检测悬吊式机械臂实时位姿,针对不同位姿建立相应的重力平衡方程。计算机械臂负载力矩,利用模糊PID算法求解机械臂重力补偿控制量,实现悬吊式机械臂重力补偿控制功能。实验结果表明：与传统重力补偿控制系统相比,优化设计系统的控制误差降低了0.056kN,机械臂的稳定系数提升了0.14,即优化设计系统可提高补偿控制效果,具有一定应用价值。
关键词：模糊PID;悬吊式机械臂;重力补偿;补偿控制;
Design of gravity compensation control system of suspended manipulator based on Fuzzy PID
Abstract：Aiming at the unstable center of gravity of the suspended manipulator under the influence of the hoisting load during the working process, with the support of the fuzzy PID control algorithm, the design and study of the gravity compensation control system of the suspended manipulator is carried out. In terms of hardware, the main controller, sensors and communication modules are modified, and gravity compensation devices and drive motor equipment are added. On this basis, the software design is completed, and the mathematical model of the suspended manipulator is constructed according to the composition and working principle of the manipulator. Under this model, the real-time pose of the suspended manipulator is detected, and the corresponding gravity balance equation is established for different poses. Calculate the load moment of the manipulator, use the fuzzy PID algorithm to solve the control amount of the manipulator gravity compensation, and realize the gravity compensation control function of the suspended manipulator. The experimental results show that compared with the traditional gravity compensation control system, the control error of the optimal design system is reduced by 0.056kN, and the stability coefficient of the manipulator is increased by 0.14, that is, the optimal design system can improve the compensation control effect and has certain application value.
Key words：Fuzzy PID; Suspended manipulator; Gravity compensation; Compensation control;
收稿日期：2022-06-07
基金项目：2021年陕西省科技厅科学研究计划软科学项目“陕西数字经济与实体经济深度融合路径研究”(2021KRM200)
