基于LuGre摩擦补偿的机器人关节EPCH与反步协调控制  

EPCH and Backstepping Coordination Control of Robot Joint Based on LuGre Friction Compensation

作　　者：杨晓宇 于海生 吴贺荣 孟祥祥 尚玉亮 YANG Xiaoyu;YU Haisheng;WU Herong;MENG Xiangxiang;SHANG Yuliang(Shandong Province Key Laboratory of Industrial Control Technology,School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院山东省工业控制技术重点实验室,山东青岛266071

出　　处：《控制工程》2024年第10期1777-1785,共9页Control Engineering of China

基　　金：国家自然科学基金资助项目(62273189);山东省自然科学基金资助项目(ZR2021MF005)。

摘　　要：为了提高机器人关节在运行时的控制性能,提出了机器人系统的摩擦补偿与协调控制策略。首先,根据LuGre摩擦模型建立了旋转矢量(rotary vector,RV)减速器的动力学方程,在摩擦模型参数未知和内部状态变量不可测的情况下分别构造摩擦参数自适应律和状态观测器,对RV减速器内部存在的滚动摩擦进行补偿。然后,设计误差端口受控哈密顿(error port-controlled Hamiltonian,EPCH)控制器与反步控制器进行协调控制,并对高斯函数、双曲正切函数、反正切函数和复合分式函数进行综合对比分析。分析结果表明,高斯函数为最优协调函数,故将其用于协调控制策略中。仿真和实验结果表明,LuGre摩擦补偿策略减小了系统的稳态误差,协调控制策略可以使机器人系统同时具有优越的快速性与准确性。In order to improve the control performance of robot joints during operation,the friction compensation and coordination control strategies of robot system are proposed.Firstly,the dynamic equation of rotary vector(RV)reducer is established according to LuGre friction model.When parameters of friction model are unknown and internal state variables are unmeasured,the friction parameter adaptive law and state observer are constructed respectively to compensate the rolling friction in RV reducer.Then,the error port-controlled Hamiltonian(EPCH)controller and backstepping controller are designed to carry out the coordination control,and Gaussian function,hyperbolic tangent function,arctangent function and composite fractional function are comprehensively compared and analyzed.The analysis results show that Gaussian function is the optimal coordination function,so it is used in the coordination control strategy.The simulation and experimental results show that LuGre friction compensation strategy reduces steady-state error of the system,and the coordination control strategy can make robot system have superior rapidity and accuracy at the same time.

关 键 词：机器人关节 摩擦补偿 协调控制 状态观测器 最优协调函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]