多轴工业机器人非线性环形耦合补偿同步控制

刘克平; 秦悦; 杨宏韬; 李岩

doi:10.13433/j.cnki.1003-8728.2018.0613

多轴工业机器人非线性环形耦合补偿同步控制

doi: 10.13433/j.cnki.1003-8728.2018.0613

1.
长春工业大学电气与电子工程学院, 长春 130012

基金项目:

吉林省中青年科技创新领军人才及团队项目（201505190009JH）与吉林省教育厅"十三五"科学技术研究项目（2016338）资助

详细信息

作者简介:
刘克平(1971-),教授,博士,研究方向为复杂系统建模优化与控制,工业机器人控制,liukeping@ccut.edu.cn

通讯作者:
李岩,副教授,博士研究生,liyan_dianqi@ccut.edu.cn

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- 文章访问数: 287
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- PDF下载量: 9
- 被引次数: 0
出版历程
- 收稿日期: 2017-06-14
- 刊出日期: 2018-06-05

Nonlinear Ring Coupling Compensation Synchronization Control for Multi-axis Industrial Robot

1.
Electrical and Electronic Engineering, Changchun University of Technology, Changchun 130012, China

摘要

摘要: 针对工业机器人多轴系统的同步控制问题，提出了工业机器人一种新型的非线性PD （比例微分）环形耦合同步控制结构，给出了位置误差和同步误差的新型定义方法，给出了基于Lyapunov稳定性理论的工业机器人多轴PD环形耦合同步控制算法，并证明了该算法的渐近稳定性。实验结果表明，采用新型的非线性PD环形耦合同步控制结构的工业机器人多轴PD环形耦合补偿同步控制算法，能够保证同步控制系统的位置误差和同步误差快速收敛，提高了工业机器人控制系统的同步性能及位置跟踪精度。
- 工业机器人 /
- 同步误差 /
- 环形耦合 /
- 非线性PD /
- 同步性能
Abstract: Because of the synchronous control problem of a multi-axis industrial robot, a new nonlinear PD (proportion-differential) ring coupling synchronous control structure for the industrial robot is proposed, and new definition methods for position error and synchronization error are given. A multi-axis PD coupling control algorithm for the industrial robot based on the Lyapunov stability theory is presented, and the asymptotic stability of the algorithm is proved. The experimental results show that the synchronous control algorithm for the multi-axis PD ring coupling compensation of the industrial robot based on the new nonlinear PD ring coupling synchronous control structure can realize the fast convergence of position error and synchronization error for the synchronous control system and improve the synchronization performance and position tracking accuracy of the industrial robot control system.
- control /
- errors /
- experiments /
- MATLAB /
- robots

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参考文献(15)

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