力控制系统的若干设计问题  

Design problems of force control systems

作　　者：刘彦文[1] 王广雄[2] 李佳[1] 綦志刚[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2011年第4期98-102,共5页Electric Machines and Control

基　　金：黑龙江省博士后科研启动金资助项目(LBH-Q09126);哈尔滨工程大学校基础研究基金资助项目(HEUFT07008;HEUFT08018);中央高校基本科研业务费专项资金(HEUCF100422);黑龙江省自然科学基金资助项目(F200803);黑龙江省博士后基金资助项目(LBH-Z07182;LBH-Z08246)

摘　　要：提出各类力控制系统设计时应遵循的原则。分析指出力控制中的对象数学模型是零阶的比例环节,所以系统的回路中必定要包含一个积分环节以保证带宽。故在一般的工业应用场合,力控制系统常采用一种比例的速率控制模式。在机械手的力控制中则是采用积分控制律。由于积分控制的动态响应较慢,所以系统设计中还常包括对扰动的补偿。对于阻抗控制场合,力控制设计应该与期望的虚拟环境的阻抗相匹配。此外,为了保证人在回路实时控制系统的稳定性,应该进行无源性设计。所提出的设计原则对系统的调试也极有帮助。The guidelines of the design for various force control systems are proposed.It is pointed out that the mathematical model of the plant in force control is of zero-order,so the system must include an integrator in its loop to ensure a limited bandwidth.Therefore,in the general industrial applications,the force control is often implemented with the proportional speed control mode.And for the manipulator applications,an integral control law is often needed for the force control.Because the dynamic response of the integral control is rather slow,so an addition disturbance compensation is often included in the design.For the impedance control cases,the force control design must match the desired impedance of the virtual environment.Besides,a passivity design is also needed to ensure the stability of a man-in-loop real-time control system.The proposed guidelines of the design are also helpful for tuning of the force control systems.

关 键 词：力控制 速率控制 积分控制律 阻抗控制 无源性设计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]