Design and Simulation of Space Pose Controller for Mine-Used Bolter Manipulator Based on Fractional Order Algorithm

摘要

In this paper, two kinds of spatial position and attitude controllers based on fractional order algorithm and algorithm are designed. Based on the basic assumptions, the model is established and the control of the spatial positioning of the manipulator is studied. The control effects of traditional controller and fractional order controller are analyzed and compared by numerical simulation method. At the same time, the effects of parameters and of fractional order controller and controller on system performance are simulated and analyzed. The results show that the fractional order controller has faster and better robustness than the traditional controller. The research of fractional order controller has become a new method to predict the space trajectory tracking and positioning of the manipulator and to ensure the positioning accuracy of the manipulator.