摘要
传统的小扰动机器人纵向非线性控制方法采用传感器通过敏感元件实现驱动器和执行系统联动控制,但控制系统容易出现非线性随机干扰失真。提出基于自校正模型参考自适应的小扰动机器人纵向非线性控制方法,利用改进后的控制算法进行电路系统设计。当小扰动机器人纵向非线性控制系统受到随机干扰作用时,根据自适应多通道加权控制律,机器人非线性控制系统的测量误差按指标随时调整控制器参数权重,给出合适的控制信号,在机器人的执行控制系统中设置一个初始权值,参考模型并联于被控系统,在伺服控制中采用最小方差法确定控制规律,实现机器人的纵向非线性控制,最后进行PCB电路板的设计。实验和调试结果表明,采用该系统能有效实现对机器人的非线性控制,控制品质和精度较高,收敛性和稳定性较好。
Since the longitudinal nonlinear control methods of the traditional small, disturbance robot adopt the sensors through the sensitive elements to realize the linkage control of the driver and execution system, the control system is prone to ap- pearance of the nonlinear random disturbance distortion. The longitudinal nonlinear control method of small disturbance robot based on the self-tuning model reference adaptive control is proposed, in which the improved control algorithm is utilized to de- sign the circuit system. When the longitudinal nonlinear control system of the small disturbance robot is suffered from the ran- dom disturbance effect, according to the weighting control law of the adaptive multi-channel, the parameter weight of the control- ler is adjusted momentarily with the measurement error of the robot nonlinear control system corresponding to the index weights, and the appropriate control signal is given. An initial weight value is set up in the execution control system of the robot, which is paralleled with the controlled system by referring the model. The minimum variance method is adopted in the servo control to determine the control law and achieve the longitudinal nonlinear control of the robot. PCB was finally designed. The experiment and debugging results show that the system can realize the nonlinear control to the robot effectively, has higher control quality and precision, and better convergence performance and stability.
出处
《现代电子技术》
北大核心
2015年第22期122-125,130,共5页
Modern Electronics Technique
基金
2013内蒙古自治区高等学院科学技术研究项目:切换系统稳定性分析
控制及其应用(NJZC13349)
关键词
机器人
非线性控制
电路系统
小扰动
robot
nonlinear control
circuit system
small disturbance
