2-DOF关节型机器人轨迹的PCH与PD协调控制  被引量:6

2-DOF Joint Robot Trajectory Control System Based on Port-Controlled Hamiltonian and PD Algorithm Coordinate Control

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作  者:迟洁茹[1] 于海生[1] 杨杰[2] 牛欢[2] 张启杲 CHIJie-ru;YU Hai-sheng;YANG Jie;NIU Huan;ZHANG Qi-gao(School of Automation, Qingdao 266071, China;School of Electrical Engineering, Qingdao 266071, China;Qingdao International Airport NewEnergy Development Co. Ltd, Qingdao 266000, China)

机构地区:[1]青岛大学自动化学院,山东青岛266071 [2]青岛大学机电工程学院,山东青岛266071 [3]青岛国际机场新能源发展有限公司,山东青岛266000

出  处:《控制工程》2019年第5期916-921,共6页Control Engineering of China

基  金:国家自然科学基金(61573203);山东省自然科学基金(ZR2016FM11)

摘  要:针对二自由度关节型机器人轨迹跟踪控制系统单独使用一种控制方法难以实现快速高效、高精度的问题,设计了基于端口受控哈密顿(PCH)系统与传统PD算法协调控制的方案。端口受控哈密顿(PCH)控制用于确保系统的稳定性问题,传统PD控制主要用于提高系统响应的快速性问题。采用指数函数作为协调函数以实现协调控制策略,从而适应二自由度机器人的误差扰动。该系统既实现了位置信号的快速跟踪,又使机器人的输出信号控制在较高的误差精度范围内。经仿真验证表明,当机器人的机械系统存在建模误差时,采用端口受控哈密顿与传统PD算法协调控制器的二自由度关节型机器人位置控制系统有效的结合了两种控制方法的优点,该系统的动态性能与稳态性能优良,且能够快速消除误差。A hybrid coordinated control method based on Port-controlled Hamilton(PCH) and PD algorithm is designed to solve the problem that a single control method cannot effectively realize the trajectory tracking control of a 2-DOF joint robot. The Port-controlled Hamilton(PCH) control is used to ensure the stability of the system, and the traditional PD control is used to improve the response speed of the system. The exponential function is used as the coordination function to realize the coordinated control strategy of the 2-DOF joint robot,so as to adapt to the error interference of the 2-DOF joint robot. The control system not only achieves fast tracking control, but also makes the output signal of the robot in a higher error precision range. The simulation results show that, even if there are errors in the mechanical system modeling of the robot, the proposed coordinated control method can make the system not only have good dynamic and steady-state performance,but also eliminate errors quickly.

关 键 词:关节型机器人 端口受控哈密顿 PD控制 轨迹跟踪控制 

分 类 号:TP391[自动化与计算机技术—计算机应用技术]

 

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