基于递推最小二乘法的仿人机械手控制技术研究  

Research on Control Technology of Humanoid Manipulator Based on Recursive Least Square Method

作　　者：秦洪浪[1] QIN Honglang(Department of Aeronautical Engineering,Shaanxi Polytechnic Institute,Xianyang 712000,China)

机构地区：[1]陕西工业职业技术学院航空工程学院,陕西咸阳712000

出　　处：《自动化仪表》2021年第8期30-36,共7页Process Automation Instrumentation

摘　　要：电机自抗扰控制(ADRC)技术是机器人设计制造中的一种常见技术。将其运用于仿人机械手的设计制造,并通过采用递推最小二乘法对电机数学模型系数进行识别,从而对ADRC算法进行优化。不同力矩、速度和位置控制的性能测试试验结果显示电流采样和控制频率为20 kHz,动态位置控制精度达到±20脉冲。结合递推最小二乘法优化后的自抗扰控制技术可有效提高机械手的控制精度,并使之具有较高的响应速度。Motor active disturbance rejection control(ADRC)technology is a common technology in robot design and manufacture.It is applied to the design and manufacture of humanoid manipulator,and the coefficients of motor mathematical model are identified by using recursive least square method to optimize the ADRC algorithm.The experimental results about perofrmance under control of different torques,speeds and positions show that the current sampling and control frequency is 20 kHz,and the dynamic position control accuracy reaches the±20 pulses.The active disturbance rejection control technology combined with the recursive least square method can effectively improve the control accuracy of the manipulator with a higher response speed.

关 键 词：递推最小二乘法 仿人机械手 自抗扰控制 电机控制 

分 类 号：TH122[机械工程—机械设计及理论]