单关节跳跃机器人模糊自适应轨迹跟踪控制

摘要

For the complex nonlinear time - varying characteristic of robot system, the traditional fuzzy control and PID methods are hard to get a good control performance. To solve the problems of large overshoot, oscillation and low control precision, a new control strategy combined traditional PID control with fuzzy adaptive control was proposed when researching trajectory tracing of single joint hopping robots. First, based on single joint hopping robot model, dynamics equations of flight phase and stance phase were established. Strategy for adjusting parameters of PID was generated according to expertise experience. Fuzzy adaptive PID controller was designed based on traditional PID control method and fuzzy adaptive theory. Simulation research with reasonable physical parameters and virtual target trajectory has indicated that this fuzzy adaptive PID controller is feasible and effective, providing a reliable basis for applying in the actual system.%研究关节型跳跃机器人轨迹跟踪优化控制问题,针对机器人系统时变、非线性的复杂特性,传统模糊控制和PID控制方法难以获得较好的控制性能,为解决控制系统中超调量大、振荡和控制精度不高等问题,提出传统PID控制与模糊自适应控制结合的控制策略.首先建立单关节跳跃机器人腾空相和站立相动力学方程,依据专家经验制定PID参数整定策略,结合传统PID控制方法和模糊自适应理论设计模糊自适应PID控制器.引入合理的跳跃机器人物理参数和虚拟目标轨迹进行仿真,结果表明,模糊自适应PID控制器具有可行性和有效性,为应用于实际控制系统优化提供了可靠依据.