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Optimal design method of adaptive fuzzy controller of multi degree of freedom manipulator system

An adaptive fuzzy and optimal design technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of only considering the tracking accuracy of the system, unable to guarantee the control quality of the control system, and difficult to detect.

Active Publication Date: 2019-11-15
洛阳润信机械制造有限公司
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AI Technical Summary

Problems solved by technology

But for the actual manipulator system, the interference signals from inside or outside the system are either unknown or difficult to detect
Therefore, it is difficult to design the controller by applying the traditional servo control theory, and it is impossible to guarantee the control quality of the control system.
[0006] Therefore, there are some deficiencies in the existing design methods of trajectory tracking control systems of manipulators: most of the existing controller design methods are based on known or approximate mathematical models and adopt traditional PID control strategies to achieve closed-loop control; In addition, when determining the controller parameters, only the tracking accuracy of the system is often considered, ignoring the dynamic performance of the system and the constraints of the servo motor drive system
When there are large modeling errors, parameter changes and various unknown disturbances in the control system, there is a large deviation between the actual control performance and the expected performance, which can only meet the requirements of tracking control accuracy under general conditions

Method used

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  • Optimal design method of adaptive fuzzy controller of multi degree of freedom manipulator system

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Embodiment Construction

[0082] Specific examples are given below to further describe the technical solution of the present invention in a clear, complete and detailed manner. This embodiment is the best embodiment on the premise of the technical solution of the present invention, but the protection scope of the present invention is not limited to the following embodiments.

[0083] An optimal design method for an adaptive fuzzy controller of a multi-degree-of-freedom manipulator system includes the following steps:

[0084] S1: According to the specific structure and joint parameters of the manipulator, establish the kinematic equation of the manipulator, and further determine the change trajectory of each joint variable of the multi-degree-of-freedom manipulator system according to the expected trajectory of the end effector;

[0085] S2: Establish the dynamic equation of the manipulator system according to the traditional Lagrangian dynamic equation as an approximate system dynamic model;

[0086]...

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Abstract

The invention discloses an optimization design method of a controller of a multi degree of freedom manipulator system. The optimization design method combines artificial neural network technology withevolutionary multi-objective optimization algorithm, the optimal parameters of multivariable PID controller are determined by the trajectory tracking control system of multi degree of freedom manipulator with nonlinear and uncertain mode; the controller is a multivariable PID controller, and can handle the uncertainty of the mechanical arm system model and the strong coupling phenomenon between joints, and obtain higher tracking accuracy and good dynamic performance; and in addition, the optimization design method optimizes the adopted evolutionary multi-objective optimization algorithm to comprehensively consider the tracking accuracy and dynamic performance of the system as well as the stability of the control, determine the most appropriate controller parameters, and the optimization design method has strong universality, and can also overcome the disadvantages brought by the common experimental repeated trial and error method.

Description

technical field [0001] The invention relates to the technical field of controller design, in particular to an optimal design method for an adaptive fuzzy controller of a multi-degree-of-freedom manipulator system. Background technique [0002] As an advanced mechatronic product, the robotic arm system has been widely and successfully applied in many fields such as manufacturing, medical treatment, military, aerospace, and entertainment services. At present, the technology related to robots has been developed rapidly. The types and functions of robotic arms have been continuously enriched and improved, and they have been widely used in all aspects of modern industrial fields. The robotic arm control system is the brain of all robotic products. It controls the Movement, thinking and behavior of robots. With the evolution of technology and the development of society, higher and higher requirements are placed on the performance of various robotic arm products. With the continu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 张雷程林云罗浩赵祺张聚伟史敬灼梁云朋
Owner 洛阳润信机械制造有限公司
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