多自由度机械臂控制算法设计

毕业设计（论文）专用纸第I页摘要机器人是一种能够进行编程并在自动控制下执行某些操作和移动作业任务的机械装置。而机械臂作为机器人最主要的执行机构，是一个十分复杂的多输入多输出非线性系统,它具有时变、强耦合和非线性的动力学特征，因其控制的复杂性引起了相关从业人员的广泛关注。随着时代的进步，像军事制造、工业生产、日常生活及教育娱乐等各个领域对机器臂控制技术应用需求逐渐加大，从而使得设计一套工作空间大，运动灵活的多自由度机器臂尤为重要。机械手臂运行轨迹追踪控制技术有包括：adaptivecontrol(自适应控制)、smvsc(滑模变结构控制)、Robustadaptivecontrol(鲁棒自适应控制)、Fuzzyadaptive(模糊自适应）等四大类。本文主要运用模糊PID控制设计二自由度机械臂控制算法，该控制方法具有模糊控制灵活和适应性强的优点，也具有经典PID控制精度高的特点。本文围绕二自由度机械臂控制算法设计，首先建立二自由度关节型机械臂的数学模型，即二自由度机械臂输入驱动力矢量和输出转动角度矢量之间的函数关系。然后运用模糊PID控制设计一套机械臂轨迹规划算法，能够根据使用者的作业任务要求，求出二自由度机械臂终端执行器的轨迹。并研究如何对于给定的系统设计出PID控制器，实现控制系统的输出对参考输入跟踪，以及对扰动输入响应具有较小的振幅，且能够衰减到零即无稳态误差。最后给出了基于MATLAB/SIMULINK软件的案例分析,阐释模糊PID控制算法行之有效性。关键词:多自由度，机械臂，PID算法控制，数学模型毕业设计（论文）专用纸第II页AbstractRobotisakindofprogrammingandperformcertainoperationsandmobiletaskmechanisminautomaticcontrol.Androbotarmasthemainexecutivebody,isaverycomplexmultiinputandmultioutputnonlinearsystem,ithasatime-varying,strongcouplingandnonlineardynamiccharacteristics,duetothecomplexityofthecontrolcausedwideattentionofpractitioners.Withtheprogressofthetimes,likemilitarymanufacturing,industrialproduction,dailylifeandentertainment,educationandotherfieldsofarobotarmcontroltechnologyapplicationrequirementsgraduallyincrease,fromthedesignalargeworkingspace,theflexiblemovementofthemultidegreeoffreedomrobotarmisparticularlyimportant.Mechanicalarmtrajectorytrackingcontroltechnologyincluding:adaptivecontrol,SMVSC,robustadaptivecontrol,fuzzyadaptiveetc..Inthispaper,theuseoffuzzyPIDcontroldesignfortwodegreeoffreedommanipulatorcontrolalgorithm,thecontrolmethodwithfuzzycontrolofaflexibleandadaptableadvantages,alsohastheclassicPIDcontrolthecharacteristicsofhighprecision.Thispaperfocusesonthedesignofcontrolalgorithmoftwodegreesoffreedommanipulator,amathematicalmodeloftwo-DOFManipulator,namelytwo-DOFManipulatordrivingforceandrotationanglebetweentheoutputfunction.ThenusethecontroltodesignamanipulatortrajectoryplanningarithmeticoffuzzyPIDmethod,accordingtotheuser'staskrequirementsandfortwodegreesoffreedommanipulatorendeffectortrajectory.AndstudyhowtodesignasystemforPIDcontrollerisgiven,toachievetheoutputofthecontrolsystemofthereferenceinputtracking,anddisturbanceinputresponseamplitudeissmaller,andcandecaytozeronosteadystateerror.Finally,acaseanalysisbasedonMATLAB/SIMULINKsoftwareispresentedtoillustratetheeffectiveofPIDfuzzycontrolalgorithm.KeyWords:Multidegreeoffreedom,manipulator,control,PIDalgorithm,mathematicalmode毕业设计（论文）专用纸第III页目录摘要..............................................................................................................................IAbstract........................................................................................................................II1绪论.........................................................................................................................III1.1本文研究的目的与意义...............................................................................11.2机械臂控制算法研究现状...........................................................................11.3本论文的工作总结.......................................................................................32机械臂控制系统概述...............................................................................................42.1二自由度机械臂的动力学控制模型..........................................................42.2二自由度机械臂运动学正解......................................................................52.3二自由度机械臂运动学中的反解..............................................................72.3.1运动学反解的不唯一性................................82.3.2在运动学反解中出现的个别情形........................93控制算法设计.........................................................................................................103.1PID的概述.................................................................................................103.2模糊PID控制............................................................................................123.3二自由度运动路径规划............................................................................133.3.1直角坐标空间中规划算法..............................133.3.2直线插补和圆弧插补算法..............................163.4模糊PID控制算法设计...........................................................................174算例分析.................................................................................................................204.1二自由度机械臂PID模糊控制器的建模...............................................204.1.1模糊PID控制...............................................................................204.1.2PID模糊建模................................................................................214.1.3PID模糊控制................................................................................224.2设计模糊控制器规则以及其仿真分析...................................................224.2.1模糊控制器规则......................................22毕业设计（论文）专用纸第IV页4.2.2PID参数的模糊整定.................................254.3仿真结果分析.............................................................................................30总结............................................................................................................