基于扰动观测器的机器人位置控制器设计  

The Design of Robot Position Controller Based on Disturbance Observer

作　　者：张宇[1] 游有鹏[1] 

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《组合机床与自动化加工技术》2013年第9期102-104,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然基金资助项目(50975144)

摘　　要：机器人的动力学方程是一组多变量、强耦合、非线性的二阶微分方程组,直接求解计算量很大。在分析了扰动观测器的基本原理后,将扰动观测器应用于机器人的控制,分析了引入扰动观测器实现机器人动力学解耦的机理;讨论了以一阶巴特沃斯低通滤波器作为Q滤波器时系统的稳定性;在自行设计的集控制和驱动为一体的机器人全数字控制器平台上开展了验证实验,实验结果表明,将扰动观测器应用于机器人位置控制可有效提高机器人轨迹控制的跟踪精度。The dynamic equations of robot are a group of multi-variable, strong coupling, highly nonlin- ear second-order differential equations, which makes directly solving of the dynamic complicated. After analyzing the basic principle of disturbance observer, the disturbance observer was applied to a robot con- troller. The mechanism of how disturbance observer can decouple robot dynamics was analyzed. The sta- bility of the system was also analyzed when choosing first-order Butterworth low-pass filter as the Q fil- ter. The verification experiment was carried out in a self-developed digital robot controller which integra- ting both control and drive function, experiment showed that by using disturbance observer, tracking ac- curacy of the robot control can be improved effectively.

关 键 词：位置控制 机器人 扰动观测器 Q滤波器 

分 类 号：TH16[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]