摘要
服务机器人机械手的高灵活性、良好的环境适应性以及柔性是非常重要的性能指标,建立基于自抗扰控制算法(ADRC)的微型直流电机柔性伺服控制系统,研究提高其响应快速性、稳定性以及抗扰动性的方法.在Matlab Simulink平台上进行传统PID算法和ADRC算法的仿真研究,并对两种算法的仿真结果进行比较,证实ADRC算法的跟踪性能、抗扰动性能以及鲁棒性能均优于传统PID算法.为了进一步进行验证,设计了微型直流电机柔性伺服控制系统硬件,进行干扰试验以及柔性控制实验,实验结果验证了伺服控制系统软件和硬件设计的合理性以及ADRC算法的有效性.
The high flexibility,good environmental adaptability and flexibility of robot manipulator are very important indexes.The flexible servo control system of micro DC motor based on ADRC algorithm is studied,and the methods to improve the rapidity,sta-bility and immunity of its response are studied.The simulation of traditional PID algorithm and ADRC algorithm is carried out on Matlab Simulink platform,and the simulation results of the two algorithms are compared.It is proved that the tracking performance,anti-disturbance performance and model adaptation performance of ADRC algorithm are better than those of traditional PID algo-rithm.In order to further verify,the hardware of the flexible servo control system of micro DC motor is designed,and the interference test and flexible control experiment are carried out.The experimental results verify the rationality of the software and hardware de-sign of the servo control system,and the effectiveness of the ADRC algorithm.
作者
贺睿杰
刘畅
HE Rui-jie;LIU Chang(School of Electrical and Electronic Engineering,Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)
出处
《天津理工大学学报》
2020年第5期6-10,共5页
Journal of Tianjin University of Technology
基金
天津市科技重大专项,市政综合管廊(17ZXCXSF00090).
