摘要： SCARA机器人是一个强耦合、多输入多输出的非线性系统,运行时较易受外界干扰的影响,而且传统比例-积分-微分(PID)反馈控制器的轨迹跟踪精度较低。针对上述问题,设计具有前馈作用的预测型迭代学习控制器(A-ILC)。利用运行批次在采样时刻t+Δ处的误差输出信息,优化调整下次运行在采样时刻t处双闭环PID反馈控制器的角度。仿真结果表明,与仅采用双闭环PID反馈控制器相比,采用所设计的控制器能明显减小机器人末端的轨迹跟踪误差。

关键词: 机器人, 双闭环, 反馈控制器, 迭代学习, 轨迹跟踪

Abstract: SCARA robot is a strong coupling,multi-input and multi-output nonlinear system,which is easy to be affected by outside interference when running,and the traditional Proportional-Integra-Derivative(PID) feedback controller leads to low trajectory tracking accuracy.To solve this problem,an Anticipatory-type Iterative Learning Controller(A-ILC) with feedforward function is designed,which utilizes the previous cycle output tracking error at moment t+Δ to adjust the angle reference of the double-loop PID feedback controller in next cycle at moment t.Simulation results show that compared with the double closed loop PID feedback controller,the designed controller can significantly reduce the trajectory tracking error at the end of the robot.

Key words: robot, double closed loop, feedback controller, iterative learning, trajectory tracking

中图分类号: 

• TP242