基于模型控制的并联机构机器人腿简化建模与辨识方法研究  

Research on simplified modeling and identification method of parallel mechanism robot leg based on model control

作　　者：史琼艳[1] 谢小敏 SHI Qiongyan;XIE Xiaomin(Mechanical Engineering Institute,Changzhou Vocational Institute of Mechatronic Technology,Changzhou 213164,Jiangsu,China;College of Mechanical and Electrical Engineering,Hohai University,Nanjing 210098,Jiangsu,China)

机构地区：[1]常州机电职业技术学院机械工程学院,江苏常州213164 [2]河海大学机电工程学院,江苏南京210098

出　　处：《中国工程机械学报》2019年第6期495-500,共6页Chinese Journal of Construction Machinery

基　　金：江苏省自然科学青年基金资助项目(BK20160296)

摘　　要：四足机器人因具有负载高、误差小、运动能力强等优点而拥有广阔的应用前景,但是其内部结构复杂,控制要素多,使得基于模型控制的难度加大.分析2自由度机器人腿结构,得到执行器力与广义力的关系,对该结构进行简化建模,将2自由度机器人腿简化为2自由度机械手模型,利用系统识别方法获取简化模型动态参数.为了验证建模的可靠性,对简化的模型进行了仿真实验验证.采用非线性同步控制器和PD控制器,分析了本文模型的跟踪控制性能指标.结果显示:两种控制器都能取得较好的控制效果,非线性同步控制器在性能指标上优于PD控制器.本文所提的简化模型建模方法可以有效地消除闭环系统中的非线性模型效应.The four-legged robot has the advantages of high load,small error and strong motion ability,and has broad application prospects.However,its internal structure is complex and there are many control factors,making it more difficult to control based on model.This paper analyzes the structure of the two-degree-of-freedom robot leg,obtains the relationship between the actuator force and the generalized force,and simplifies the structure,simplifies the two-degree-of-freedom robot leg into a two-degree-of-freedom manipulator,and uses the system identification method to obtain the simplified model dynamic parameters.In order to verify the reliability of the model,the simplified model was verified by simulation experiments.The nonlinear synchronous controller and PD controller are used to analyze the tracking control performance of the model.The result shows that both controllers can achieve better control effects.The nonlinear synchronous controller is superior to the PD controller in performance.Therefore,the simplified model modeling method proposed in this paper can effectively eliminate the nonlinear model effect in closed-loop systems.

关 键 词：模型控制 并联机器人腿 简化建模 仿真 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]