CAJ | 학술논문

由于柔性机械臂的动态模型较为复杂，传统的基于模型的控制策略一般难以处理。基于PD型模糊控制器，提出一种基于新型的模糊控制的柔性机械臂轨迹跟踪与振动控制策略。首先推导用于柔性机械臂角控制的PD型并联模糊控制器，随后将其改进，提出了一种非并联型模糊控制器，并结合输入整形策略，推导了一种新型的柔性机械臂的混合模糊控制器。在此基础上，构建了柔性机械臂实验平台，开展实时控制实验，给出了相关的时域和频域控制效果。相关的实验结果表明，所提出的新型模糊控制器能够较好地完成柔性机械臂的轨迹跟踪任务，并显著降低柔性机械臂的振动。
유우유성궤계비적동태모형교위복잡，전통적기우모형적공제책략일반난이처리。기우PD형모호공제기，제출일충기우신형적모호공제적유성궤계비궤적근종여진동공제책략。수선추도용우유성궤계비각공제적PD형병련모호공제기，수후장기개진，제출료일충비병련형모호공제기，병결합수입정형책략，추도료일충신형적유성궤계비적혼합모호공제기。재차기출상，구건료유성궤계비실험평태，개전실시공제실험，급출료상관적시역화빈역공제효과。상관적실험결과표명，소제출적신형모호공제기능구교호지완성유성궤계비적궤적근종임무，병현저강저유성궤계비적진동。
As the dynamics model of flexible manipulator are very complex , traditional model‐based control strategies are not suitable for solving the control problem .A new fuzzy control al‐gorithm was proposed based on proportional‐derivative type fuzzy rule .Firstly ,a proportional‐derivative type fuzzy controller was developed for angular position control .Then it was extended to incorporate a fuzzy controller and input shaping algorithm for vibration suppression .To verify the proposed methods ,an experiment was constructed and real time control performance was shown both in time domain and frequency domain .The control performance of the proposed con‐trol algorithms were verified in terms of tracking capability ,vibration suppression performance as w ell as time response specifications .