摘要
针对机器人的时变、耦合和非线性特性,采用了仿人智能控制器对三自由度工业机器人进行控制。仿人智能控制器采用基于特征模型的多模态控制,能在系统不同的特征状态下采用不同的控制,实现各种状态下的最优(或次最优),进而在整体层面上兼顾系统快速性、稳定性和精确性指标。为了验证仿人智能控制器对工业机器人控制的有效性,在机器人仿真平台上同传统的PID控制器进行对比。实验表明:相对于传统的PD控制器,仿人智能控制器能在保证控制过程稳定性的情况下实现对正弦给定信号的快速跟踪,同时系统的超调很小,从而兼顾了快速性、稳定性和精确性3方面性能指标。
In this paper, for the time-varying, coupling and nonlinear characteristic, a Human-Simulated Intelligent Controller （HISC） has been adopted to control 3-degree manipulator. Human-Simulated Intelligent Controller uses multi-modal control based on feature model. So it can achieve good control in every feature status, and therefore it can take all the system＇ s stability, rapidity and accuracyinto consideration on the whole level. To verifying the validity of the HSIC controller, experiments have been done on the simulation platform. The result proved that the HSIC controller can get better performance in stability, rapidity and accuracy than conventional PD controller.
出处
《重庆理工大学学报（自然科学）》
CAS
2012年第7期42-49,共8页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金资助项目(60905053)
关键词
仿人智能控制
工业机器人
特征模型
多模态控制
human-simulated intelligent control
manipulator
feature model
multi-modal control
