کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10146014 1646387 2018 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Adaptive fuzzy tracking control of robot manipulators actuated by permanent magnet synchronous motors
ترجمه فارسی عنوان
کنترل ردیابی فازی تطبیقی ​​کنترل کننده های ربات که توسط موتورهای همزمان هماهنگ مغناطیسی فعال می شوند
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر شبکه های کامپیوتری و ارتباطات
چکیده انگلیسی
This paper presents a model-free controller for robot manipulators driven by permanent magnet synchronous motors (PMSM). The contribution of this paper is merging the electrical and mechanical equations of the robotic system to simplify the controller design procedure. In other words, due to the fact that the manipulator links are the load torques of the PMSMs, the uncertainties related to the manipulator dynamics have been transferred to the voltage equations of the PMSMs. Uncertainties including external disturbances and system dynamics are estimated and compensated in the control law using adaptive fuzzy systems. In contrast to most previous related works that ignore the PMSM electrical equations, both the electrical and mechanical equations are taken into consideration. Based on the Barbalat's lemma, the asymptotic convergence of the tracking error to zero is guaranteed. The case study is an articulated manipulator driven by PMSMs. In comparison with a robust controller for a single-link manipulator actuated by PMSM, the proposed method is superior due to faster and smoother responses.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Computers & Electrical Engineering - Volume 72, November 2018, Pages 100-111
نویسندگان
, ,