摘要
目的提出一种基于单神经元PID与交叉耦合的联合控制转速的方法,提高少自由度四足机器人行走机构实现Trot步态时的稳定性和协调性。方法通过分析行走机构的结构特点和控制需求,针对行走机构转速控制进行方案设计;对单个行走单元的驱动提出基于单神经元PID算法的控制策略,并在对角两个行走单元的控制系统之间引入交叉耦合控制策略,通过Simulink平台对以上控制方法进行控制仿真并进行实体实验验证。结果基于单神经元PID算法的控制方法比传统控制方法的转速调节时间提高了31.2%;采用单神经元PID算法与交叉耦合控制相结合的控制策略时,同步转速偏差波动幅度降低了28%。结论采用单神经元PID控制算法和交叉耦合控制策略能实现运动的精确控制,并具有良好的抗干扰性和鲁棒性;且两个行走单元能更好地同步协调运转,增强了该机器人的运动平稳性,确保了Trot步态的稳态运行。
A joint speed control method based on single neuron PID and cross coupling is proposed to improve the stability and coordination of the trot gait of the quadruped robot walking mechanism with less degree of freedom.By analyzing the structural characteristics and control requirements of the walking mechanism,the speed control of the walking mechanism is designed.A control strategy based on single neuron PID algorithm is proposed for the driving of a single walking unit,and a cross-coupling control strategy is introduced between the control systems of the diagonal two walking units.The above control methods are simulated by Simulink platform and verified by physical experiments.The speed adjustment time of the control method based on single neuron PID algorithm is 31.2%higher than that of the traditional control method.When the control strategy of single neuron PID algorithm combined with cross coupling control is adopted,the fluctuation range of synchronous speed deviation is reduced by 28%.The single neuron PID control algorithm and cross coupling control strategy can realize the precise control of motion,and have good anti-interference and robustness.The two walking units can run synchronously and coordinately,which enhances the motion stability of the robot and ensures the steady-state operation of the Trot gait.
作者
罗继曼
马思源
肖雅心
刘丰源
宋玉成
LUO Jiman;MA Siyuan;XIAO Yaxin;LIU Fengyuan;SONG Yucheng(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang,China,110168)
出处
《沈阳建筑大学学报（自然科学版）》
CAS
北大核心
2024年第3期554-562,共9页
Journal of Shenyang Jianzhu University：Natural Science
基金
国家自然科学基金项目(62003226)。
