液压多指手关节位置控制系统研究

摘要

液压多指手是一种以液压作为驱动方式的多指手，位置控制对于液压多指手跟踪规划轨迹、实现准确抓取具有重要影响。为了实现液压多指手对于位置的精确定位，针对液压多指手的工作特点以及实际液压系统的复杂性，从关节控制入手，分析了关节位置控制系统工作原理，建立了该位置控制系统的数学模型，引入了模糊PID控制策略，对基于模糊PID位置控制系统进行了详细设计，并利用MATLAB对其进行了仿真。通过MATLAB仿真研究，表明基于模糊PID的液压多指手关节位置控制系统的动态响应性能和稳态精度很好，能够满足液压多指手关节的工作要求。%Hydraulic multi-fingered hand is a kind of hand driven by hydraulic pressure,while the position control system is im-portant for hydraulic multi-fingered hand tracking planned trajectory,achieving accurate grasping.In order to realize accurate grasping in position by the hand,aimed at the characteristic of hydraulic multi-fingered hand and complexity of actual hydraulic system,started from control of joint,firstly,working principle of position control system in joint was analyzed,then mathematical model of it was es-tablished.Finally,fuzzy PID control strategy was introduced,the position control system based on fuzzy PID was designed in detail, and it was simulated with MATLAB.Through the simulation research of MATLAB,which shows that dynamic response performance and steady-state accuracy of the position control system for joint of hydraulic multi-fingered hand based on fuzzy PID are both very well, can satisfy the working requirements for joint of hydraulic multi-fingered hand.