CAJ | 학술논문

对水平运动的3 R欠驱动机器人轨迹跟踪控制问题进行了研究。设计了Mamdani型模糊控制器和一种复合型Fuzzy-PID控制器，利用主、被动关节的动力学耦合规律实现对末端点的轨迹跟踪控制。复合控制器设有两个模态，当误差大于所设阀值时采用Mamdani型模糊控制以获得较高的瞬态性能，当误差小于所设阀值时采用PID控制以获得较高的稳态性能。在ADAMS中建立欠驱动机器人的虚拟样机模型，在MATLAB中建立复合型模糊控制系统，通过二者的联合仿真进行验证。结果表明：和Mamdani型模糊控制相比，复合型Fuzzy-PID控制器消除了系统的稳态误差，提高了轨迹跟踪的控制精度。
대수평운동적3 R흠구동궤기인궤적근종공제문제진행료연구。설계료Mamdani형모호공제기화일충복합형Fuzzy-PID공제기，이용주、피동관절적동역학우합규률실현대말단점적궤적근종공제。복합공제기설유량개모태，당오차대우소설벌치시채용Mamdani형모호공제이획득교고적순태성능，당오차소우소설벌치시채용PID공제이획득교고적은태성능。재ADAMS중건립흠구동궤기인적허의양궤모형，재MATLAB중건립복합형모호공제계통，통과이자적연합방진진행험증。결과표명：화Mamdani형모호공제상비，복합형Fuzzy-PID공제기소제료계통적은태오차，제고료궤적근종적공제정도。
To improve the control effect of the trajectory tracking of a 3R horizontal underactuated manipula-tor, a kind of Fuzzy-PID compound controller is designed, which realizes the control by using the dynamic coupling between the actuated and the underactuated joints. It is a dual-mode system. If the error is higher than the valve values, the fuzzy controller works in order to obtain a good transient performance. If the error is lower than the valve values, the PID controller works in order to obtain a good steady state performance. The virtual prototype system of the 3R horizontal underactuated manipulator was created in ADAMS, and the control system is designed in MATLAB. The co-simulation based on MATLAB and ADAMS for the ro-bot was realized by the interface module between them. The results of the co-simulation show that the Fuzz-y-PID compound controller can effectively reduce the control error and improve dynamic property of the sys-tem.