直接驱动机器人自适应-PD复合运动控制研究  

Robot Control Using a Hybrid Controller Composed of an Adaptive Controller and a PD Controller

作　　者：贺红林[1] 占晓煌[1] 刘文光[1] 封立耀[1] 

机构地区：[1]南昌航空大学航空制造工程学院,南昌330063

出　　处：《农业机械学报》2014年第5期271-277,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(51265040)

摘　　要：针对直接驱动机器人结构参数与摩擦参数的非确定性，提出机器人自适应-PD控制策略。首先分析了机器人的两类不确定性，推演了机器人动力学方程，给出不确定性动力学结构量的线性化表示；然后，对关节摩擦力矩矢进行了建模；为补偿动力学不确定性给机器人带来的控制误差，构建含位置与速度反馈的双闭环控制系统，引入自适应机构辨识不确定性参量，并据此规划出自适应控制律；为提高运动控制精度，在控制器中嵌入PD子控制器。仿真实验显示，系统的位置和角速度跟踪误差分别为-0.02°-0.03°与±0.005rad/s，表明自适应-PD控制律可实现直接驱动机器人精密轨迹控制。In order to improve the direct drive robot （DDR）’s trajectory tracking accuracy, a hybrid controller consisting of an adaptive sub controller and a PD sub controller was proposed. Firstly, the dynamical uncertainty of the robot was investigated while the uncertainty friction in the robot joints was modeled and the kinematics equation of the robot manipulator was derived. Then, a two close loops control system with position and speed feedback was built for the robot, and an adaptive controller being capable of identifying the uncertainties of the robot’s manipulator was employed so as to compensate the control error brought from the robot’s dynamic uncertainty. Moreover, a PD controller was embedded in the hybrid controller so as to improve the robot’s tracking accuracy. With the aim to guarantee the stability of the system, an adaptive law was presented. Finally, simulations have been accomplished to validate the feasibility of the controller. The results show that the position error and speed tracking error of the robot are limited to -0.02°-0.03° and ±0.005rad/s, which means that hybrid controller can make the robots track the desired trajectory with higher precision, and it exists widely application prospect.

关 键 词：直接驱动机器人 轨迹跟踪 动力学确定性 自适应-PD控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP273.3[自动化与计算机技术—控制科学与工程]