一种高速并联机器人的模糊前馈控制方法技术

本发明专利技术公开了一种高速并联机器人的模糊前馈控制方法，属于机器人运动控制领域，包括以下步骤，S1、确定输入及输出变量；S2、将各输入、各输出划分为3个区间，构建模糊规则；S3、采集S1中的三个输入变量并按照步骤S2定义的三个语言变量对其进行分类；然后，根据步骤S2定义的模糊规则进行推理，进而确定两个输出的语言变量；最后，将输出变量清晰化，得到速度与加速度前馈控制器参数的模糊调整量ΔK

【技术实现步骤摘要】
一种高速并联机器人的模糊前馈控制方法


[0001]本专利技术属于机器人运动控制领域，涉及机器人技术和自动化领域，可有效提高这种机器人在高速运行时的运动控制精度，尤其涉及一种高速并联机器人的模糊前馈控制方法。

技术介绍

[0002]对于现代工业普遍采用的PID控制器，其优点是结构简单，方便计算，但动态控制性能较差，自适应能力有限。考虑到高速并联机器人通常执行高速、高加速度运动轨迹，对于精度要求极高。然而对于时变性的被控对象，固定增益的控制器很难满足高速并联机器人高精度的需求。模糊PID作为一种新型的智能控制器，具有较好的鲁棒性，但无法调节前馈控制器参数。在机器人系统高速、高加速度运行时，因前馈控制器参数整定不准确导致的跟随误差，严重降低关节跟随精度。因此，亟需在原有速度、加速度前馈控制器的基础上实施一种模糊前馈控制算法，实现前馈控制器参数的自动快速精确调节，进一步提高驱动关节的跟随精度。

技术实现思路

[0003]本部分的目的是在于概述本专利技术的实施例的一些方面以及简要介绍一些较佳实施例。在本部分以及本申请的说明书摘要和专利技术名称中可能会做些简化或省略以避免使本部分、说明书摘要和专利技术名称的目的模糊，而这种简化或省略不能用于限制本专利技术的范围。
[0004]鉴于上述
技术介绍
描述中存在的问题，提出了本专利技术，因此，本专利技术其中一个目的是提供一种高速并联机器人的模糊前馈控制方法，可根据设定的接触刚度与阻尼自适应调节位置环与速度环的补偿信号，进而改善抛光质量，提高抛光效率。
[0005]2、为解决上述技术问题，本专利技术采用的技术方案是：一种高速并联机器人的模糊前馈控制方法，包括以下步骤，
[0006]S1、确定输入及输出变量；
[0007]采用三输入双输出的模糊控制结构：输入变量为驱动关节跟随误差e
i
(i＝1,2,3,4)、关节速度关节加速度
[0008]输出变量为速度前馈控制器参数调整量ΔK
vi
(i＝1,2,3,4)与加速度前馈控制器参数调整量ΔK
ai
(i＝1,2,3,4)；
[0009]S2、构建模糊规则；
[0010]将各输入、各输出划分为3个区间，定义对应语言变量为NB
‑
负大，ZO
‑
零，PB
‑
正大，则相应的模糊子集表示为{NB，ZO，PB}，定义模糊规则如下：
[0011]If e is PB and
ꢀꢀ
is PB and
ꢀꢀ
is PB，then ΔK
v is PB and ΔK
a is PB；
[0012]If e is PB and
ꢀꢀ
is PB and
ꢀꢀ
is NB，then ΔK
v is PB and ΔK
a is NB；
[0013]If e is PB and
ꢀꢀ
is PB and
ꢀꢀ
is ZO，then ΔK
v is PB and ΔK
a is ZO；
[0014]If e is PB and
ꢀꢀ
is NB and
ꢀꢀ
is PB，then ΔK
v is NB and ΔK
a is PB；
[0015]If e is PB and
ꢀꢀ
is NB and
ꢀꢀ
is NB，then ΔK
v is NB and ΔK
a is NB；
[0016]If e is PB and
ꢀꢀ
is NB and
ꢀꢀ
is ZO，then ΔK
v is NB and ΔK
a is ZO；
[0017]If e is PB and
ꢀꢀ
is ZO and
ꢀꢀ
is PB，then ΔK
v is ZO and ΔK
a is PB；
[0018]If e is PB and
ꢀꢀ
is ZO and
ꢀꢀ
is NB，then ΔK
v is ZO and ΔK
a is NB；
[0019]If e is PB and
ꢀꢀ
is ZO and
ꢀꢀ
is ZO，then ΔK
v is ZO and ΔK
a is ZO；
[0020]If e is NB and
ꢀꢀ
is PB and
ꢀꢀ
is PB，then ΔK
v is NB and ΔK
a is NB；
[0021]If e is NB and
ꢀꢀ
is PB and
ꢀꢀ
is NB，then ΔK
v is NB and ΔK
a is PB；
[0022]If e is NB and
ꢀꢀ
is PB and
ꢀꢀ
is ZO，then ΔK
v is NB and ΔK
a is ZO；
[0023]If e is NB and
ꢀꢀ
is NB and
ꢀꢀ
is PB，then ΔK
v is PB and ΔK
a is NB；
[0024]If e is NB and
ꢀꢀ
is NB and
ꢀꢀ
is NB，then ΔK
v is PB and ΔK
a is PB；
[0025]If e is NB and
ꢀꢀ
is NB and
ꢀꢀ
is ZO，then ΔK
v is PB and ΔK
a is ZO；
[0026]If e is NB and
ꢀꢀ
is ZO and
ꢀꢀ
is PB，then ΔK
v is ZO and ΔK
a is NB；
[0027]If e is NB and
ꢀꢀ
is ZO and
ꢀꢀ
is NB，then ΔK
v is ZO and ΔK
a is PB；
[0028]If e is NB and
ꢀꢀ
is ZO and
ꢀꢀ
is ZO，then ΔK
v is ZO and ΔK
a is ZO；
[0029]If e is ZO and
ꢀꢀ
is PB and
ꢀꢀ
is PB，then ΔK
v is ZO and ΔK...

【技术保护点】

【技术特征摘要】
1.一种高速并联机器人的模糊前馈控制方法，其特征在于：包括以下步骤，S1、确定输入及输出变量；采用三输入双输出的模糊控制结构：输入变量为驱动关节跟随误差e
i
(i＝1,2,3,4)、关节速度关节加速度输出变量为速度前馈控制器参数调整量ΔK
vi
(i＝1,2,3,4)与加速度前馈控制器参数调整量ΔK
ai
(i＝1,2,3,4)；S2、构建模糊规则；将各输入、各输出划分为3个区间，定义对应语言变量为NB
‑
负大，ZO
‑
零，PB
‑
正大，则相应的模糊子集表示为{NB，ZO，PB}，定义模糊规则如下：If e is PB andis PB andis PB，then ΔK
v is PB and ΔK
a is PB；If e is PB andis PB andis NB，then ΔK
v is PB and ΔK
a is NB；If e is PB andis PB andis ZO，then ΔK
v is PB and ΔK
a is ZO；If e is PB andis NB andis PB，then ΔK
v is NB and ΔK
a is PB；If e is PB andis NB andis NB，then ΔK
v is NB and ΔK
a is NB；If e is PB andis NB andis ZO，then ΔK
v is NB and ΔK
a is ZO；If e is PB andis ZO andis PB，then ΔK
v is ZO and ΔK
a is PB；If e is PB andis ZO andis NB，then ΔK
v is ZO and ΔK
a is NB；If e is PB andis ZO andis ZO，then ΔK
v is ZO and ΔK
a is ZO；If e is NB andis PB andis PB，then ΔK
v is NB and ΔK
a is NB；If e is NB andis PB andis NB，then ΔK
v is NB and ΔK
a is PB；If e is NB andis PB andis ZO，then ΔK
v is NB and ΔK
a is ZO；If e is NB andis NB andis PB，then ΔK
v is PB and ΔK
a is NB；If e is NB andis NB andis NB，then ΔK
v is PB and ΔK
a is PB；If e is NB andis NB andis ZO，then ΔK
v is PB and ΔK
a is ZO；If e is NB andis ZO andis PB，then ΔK
v is ZO and ΔK
a is NB；If e is NB andis ZO andis NB，then ΔK
v is ZO and ΔK
a is PB；If e is NB andis ZO andis ZO，then ΔK
v is ZO an...

【专利技术属性】
技术研发人员：刘祺，蔺景龙，马跃，李彬，张冕，刘振忠，宋晨阳，张智涛，
申请(专利权)人：天津理工大学，
类型：发明
国别省市：