采用摩擦补偿的串联弹性驱动器模糊转矩控制研究  

Study on fuzzy torque control of series elastic drive with friction compensation

作　　者：孙艳芬[1] 田松亚[2] SUN Yanfen;TIAN Songya(College of Mechanical Engineering,Changzhou Vocational Institute of Mechatronic Technology,Changzhou 213164,Jiangsu,China;College of Mechanical and Electrical Engineering,Hohai University,Nanjing 210000,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,江苏南京210000

出　　处：《中国工程机械学报》2025年第1期66-71,共6页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(52175223);江苏省产学研合作项目(BY2021589)。

摘　　要：串联弹性驱动器可以用于驱动机器人的腿部关节运动,但实际关节的运动轨迹输出误差较大。为了改善串联弹性驱动器的控制效果,提出了带摩擦补偿的模糊转矩控制器,并对串联弹性驱动器的运动位移和输出转矩进行仿真。搭建串联弹性驱动器简图模型,建立非线性摩擦的数学方程式。分析了模糊逻辑控制器结构,根据模糊规则设计了摩擦补偿的模糊扭矩控制器,用于控制串联弹性器运动位移和输出转矩。利用李雅普诺夫函数推导和证明带摩擦补偿的模糊扭矩控制器的稳定性。在不同环境中,采用Matlab软件对串联弹性驱动器运动位移和输出转矩跟踪误差进行仿真,比较传统PID控制器和带摩擦补偿的模糊转矩控制器输出精度。与传统PID控制器的对比结果表明,带摩擦补偿的模糊转矩控制器可以更快地收敛到期望值,能够抑制外界波形对控制系统的干扰,在串联弹性驱动器运动位移和输出转矩跟踪任务中表现出较好控制性能。The series elastic actuator can be used to drive the joint movement of the robot leg,but the output error of the actual motion trajectory of the joint is large.In order to improve the control effect of the series elastic actuator,a fuzzy torque controller with friction compensation is proposed,and the motion displacement and output torque of the series elastic actuator are simulated.The simplified model of the series elastic actuator is established,and the mathematical equation of nonlinear friction is established.The structure of the fuzzy logic controller is analyzed,and a fuzzy torque controller with friction compensation is designed according to the fuzzy rules to control the displacement and output torque of the series elastic device.The stability of fuzzy torque controller with friction compensation is deduced and proved by Lyapunov function.In different environments,the motion displacement and output torque tracking error of the series elastic actuator are simulated by Matlab software,and the output accuracy of the traditional PID controller and the fuzzy torque controller with friction compensation are compared.Compared with the traditional PID controller,the results show that the fuzzy torque controller with friction compensation can converge to the expected value faster,and can suppress the interference of the external waveform to the control system.It shows better control performance in the task of tracking the motion displacement and output torque of the series elastic actuator.

关 键 词：摩擦补偿 串联弹性驱动器 模糊转矩控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]