风电叶片打磨机器人柔性末端磨削力抗扰控制  

Auto Disturbance Rejection Control of the Flexible End Grinding Force of a Wind Turbine Blade Grinding Robot

作　　者：王雨 孙龙[1] 王玉伟[1] 宁军[1] WANG Yu;SUN Long;WANG Yu-wei;NING Jun(China Automotive Technology and Research Center Co.,Ltd,Tianjin,300300,China)

机构地区：[1]中国汽车技术研究中心有限公司,天津3OO3OO

出　　处：《计算机仿真》2020年第7期384-390,413,共8页Computer Simulation

基　　金：河北省自然科学基金重点项目(F2017202243);空间智能控制技术重点实验室开放基金(ZDSY-2017-08);国家自然基金委员会与中国民用航空局联合资助(U1433117);中国民航科技重大专项(MHRD20130104)。

摘　　要：为了自适应风电叶片磨削过程中叶片的曲率变化,仿照动物肌肉-肌腱组织,提出一种适用于电机驱动的直线型串联弹性驱动器(类SEA)安装于六自由度机械臂末端以实现柔性输出。并建立了类SEA数学模型,在基于类SEA动力学模型的基础上,根据自抗扰控制(ADRC)抗干扰性能强,跟踪快速无超调的特点,设计了离散自抗扰力控制器。为了验证力控制器的性能,通过与带有跟踪微分器的PID控制、传统PID控制和自抗扰控制三者进行对比仿真,并在仿真环境中加入了噪声与扰动,仿真结果表明,上述控制器具有良好的动静态性能,有较强的抗干扰能力和抑制噪声能力,对内部参数变化具有很强的鲁棒性。In order to adaptive change the curvature variety of the blade in the process of wind turbine blade grinding,imitating the muscle-tendon of the animal,this paper proposed a linear type suitable for motor driven series elastic actuator(SEA)installed on the six degree of freedom manipulator to achieve flexible output.A mathematical model of the similar SEA is established.On the basis of the similar SEA dynamic model,according to auto disturbance rejection control(ADRC),which has strong anti-interference performance,fast tracking and no overshoot,we design a discrete auto disturbance rejection controller.In order to verify the performance of the force controller,the auto disturbance rejection control is compared with the PID control with the tracking differentiator and the traditional PID control,and noise and disturbance are added to the simulation environment,simulations are carried out and the simulation results show that the controller has good dynamic and static performance,strong anti-interference and noise suppression ability,strong robustness to parameter variation.

关 键 词：串联弹性驱动器 柔性输出 自抗扰控制 跟踪微分器 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]