平面三自由度可控挖掘机构动力学建模与控制器设计

摘要

By using Lagrangian methods,the rigid body dynamics model was established for a planar 3-DOF con-trollable excavating mechanism.Based on the system generalized forces of the three driven bars,the control strat-egy of the semi-closed loop control system was studied.A Fuzzy-PID dual-mode controller was introduced and an-alyzed by using fuzzy algorithm based on the mathematical model of mechanism driven components-AC servo mo-tors.The simulation results indicate that the proposed controller has better performance in overshoot,adjusting time,rise time and anti-interference ability,which can satisfy the control requirements of the system.%以一种平面三自由度可控挖掘机构为例，运用拉格朗日方法建立了机构的刚体动力学模型，求解得到了各主动杆的系统广义力；进而针对其半闭环控制系统的控制策略进行研究，基于机构驱动元件-交流控制电机及其驱动器的数学模型，运用模糊算法设计了一种模糊-PID双模控制器并对其进行仿真分析。结果表明：基于模糊算法的控制器在超调量、调节时间、上升时间和抗干扰能力等方面均具有较好性能，满足系统的控制要求。