基于数据FCM聚类的移动机器人关节横摆力矩振动控制系统设计  

Design of Joint Lateral Torque Vibration Control System for Mobile Robots Based on Data FCM Clustering

作　　者：陈振庭 陈富强 许丽娟 CHEN Zhenting;CHEN Fuqiang;XU lijuan(School of Artificial Intelligence,Guangzhou Huashang College,Guangzhou 511300,China)

机构地区：[1]广州华商学院人工智能学院,广州511300

出　　处：《计算机测量与控制》2025年第4期130-138,共9页Computer Measurement &Control

基　　金：广州华商学院校内导师制科研基金资助项目(2024HSDS12)。

摘　　要：针对实际空间移动机器人关节横摆振动问题开展研究;由于其运动存在多体动力学耦合关系且关节间有弹性影响,关节易横摆振动,传统关节独立力反馈控制效果不佳;硬件上,采用力矩传感器检测关节横摆力矩,设计CPU+FPGA结构的关节控制器硬件;软件上,经聚合经验模态分解提取关节横摆力矩振动信号特征,引入模糊C均值聚类算法识别振动模式确定控制要求,结合PD控制器和LQR控制结构建立联合控制策略,并考虑关节力矩反馈和电机位置误差实现最终控制;经测试,对于移动机器人左前腿关节低频振动,应用该系统后最大振动减弱到0.22°,确保了移动机器人运行稳定性。Research is carried out on the yaw vibration of joints in actual space mobile robots.Due to the multi-body dynamic coupling relationship and elastic influence between joints in its motion,the joints is prone to yaw vibration,and the traditional joint-independent force-feedback control has poor effects.In terms of hardware,a torque sensor is used to detect the joint yaw torque,and a joint controller hardware with a CPU+FPGA structure is designed.In terms of software,the characteristics of the joint yaw torque vibration signal are extracted through ensemble empirical mode decomposition,and the fuzzy C-means(FCM)clustering algorithm is introduced to identify the vibration mode and determine the control requirements.The combined control strategy is established by combining the proportion derivative(PD)controller and the linear quadratic regulator(LQR)control structure,considering joint torque feedback and motor position error to achieve final control.The test results show that for the low-frequency vibration of the left front-leg joint of the mobile robot,after the application of this system,the maximum vibration of the vibrating joint is reduced to 0.22°,ensuring the operation stability of the mobile robot.

关 键 词：移动机器人 FCM聚类 横摆力矩 关节振动 控制器 聚合经验模态分解 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]