PHCC平台下鲁棒性阻抗控制算法的研究  

Robust Impedance Control Method on PHCC System

作　　者：王洪艳[1] 陆金波[1] 

机构地区：[1]电子科技大学机械电子工程学院,成都611731

出　　处：《电子科技大学学报》2014年第5期794-799,共6页Journal of University of Electronic Science and Technology of China

摘　　要：针对气液联控系统(PHCC)的非线性、系统参数及外界干扰的不确定性,提出基于多滑模控制(MSSC)和函数逼近技术(FAT)的控制算法。利用Lyapunov方法获得闭环系统稳定性,实现了气液联控系统的鲁棒性阻抗控制。在PHCC平台下进行了7 mm/s斜坡往复信号和0.2 Hz正弦信号的阻抗控制仿真研究。仿真结果表明,该控制策略能较好地实现PHCC系统的柔顺控制,并具有较好的鲁棒性,系统在自由运动阶段和柔顺运动阶段均具有较好的跟踪性能。Aiming at the non-linearity as well as the uncertainty of parameters and external interference in pneumatic hydraulic combination control system （PHCC）, the function approximation technique （FAT） based the multiple-surface sliding control （MSSC） algorithm is presented in this paper. The Lyapunov method is applied to acquire the stability of closed-loop system and realize the robust impedance control of PHCC system. The impedance control simulation researches are conducted under the 7 mm/s repeatedly slope and 0.2 Hz sine signal respectively. The simulation results show that the control strategy is able to perform good compliant control with good robustness and the system performs well in both free-space and compliant tracking movements.

关 键 词：函数逼近技术 阻抗控制 多滑模面控制 气液联控 鲁棒 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]