摘要
超声电机的小质量、大转矩、响应快等特点,是其成为小型直接驱动机器人执行器的基础。通过对超声电机的伺服特性研究及关节型机器人动力学分析,提出了超声电机驱动的机器人的模糊神经网络控制的复合控制方法,该方法中,模糊子控制器实现了关节定位的初步控制,神经网络子控制器起到降解稳态误差、提高控制精度作用。文中较详细地研究了复合控制器的结构及两个子控制器的设计问题。为了检验控制效果,对控制系统进行了仿真,结果表明,采用这种复合控制器可获得较高的位置精度。
The characteristics of the USM such as light weight, fast response speed and high torque/mass ratio make it an ideal actuator for the direct drive robot. Based on the servo characteristics of the USM and the dynamics of the manipulator, a hybrid control system composed of a fuzzy controller which makes overall system stable along a trajectory and a neuron network controller which aims to reduce the stable error for a planar robot driven by USM is proposed. The structure of the hybrid contrller and the design of the two sub-controllers have been studied. In order to validate the effect of the control method, a simulation of the control system has been made. The result shows that a high position precise will be obtained with such a hybrid controller.
出处
《压电与声光》
CSCD
北大核心
2006年第2期143-146,共4页
Piezoelectrics & Acoustooptics
基金
国家自然科学基金重点资助项目(50235010)
关键词
超声电机
直接驱动机器人
模糊控制
神经网络控制
ultrasonic motor
direct drive robot
fuzzy logical controller
neuron network controller
