基于线性自抗扰控制的柔顺伺服控制研究
Research on Flexible Servo Control Based on Linear Active Disturbance Rejection Control
杨东霖 1王庆辉 2罗阳 3赵忆文3
作者信息
- 1. 沈阳化工大学信息工程学院,沈阳 110142;中国科学院沈阳自动化研究所,沈阳 110169
- 2. 沈阳化工大学信息工程学院,沈阳 110142
- 3. 中国科学院沈阳自动化研究所,沈阳 110169
- 折叠
摘要
对于机器人关节的主动柔顺控制的建模误差、电机系统参数变化及驱动器层高采样频率和高控制频率引入的系统扰动影响等诸多问题,提出一种基于线性自抗扰控制的柔顺控制方法.通过控制底层驱动器交轴电流实现柔顺控制,设计外力矩观测器可以实现无力传感器条件下的实时力矩估计,以达到柔性关节驱动的目的.实验对比了刚性位置控制与柔顺控制在相同阶跃输入下的位置与电磁转矩响应,验证了提出柔顺控制方法的有效性.此外,探讨了阻尼系数和刚度系数对柔顺控制的位置响应和电磁转矩响应的影响.最后在单自由度系统进行实验验证,实验结果验证了方法的有效性.
Abstract
For the active supple control of robot joints with many problems such as modeling errors,chan-ges in motor system parameters and the effects of system perturbations introduced by high sampling fre-quency and high control frequency at the driver layer.In this paper,we propose a supple control method based on active disturbance rejection control,which realizes the supple control by controlling the Quadrature axis current of the underlying driver,and the design of an external torque observer can achieve the real-time torque estimation under the condition of no force sensor to reach the purpose of flexible joint drive.Real-time torque estimation is designed to achieve the purpose of flexible joint drive.The experiments compare the position and electromagnetic torque responses of the rigid position control and the flexible control under the same step input,and verify the effectiveness of the proposed flexible control method.In addition,the effects of damping coefficients and stiffness coefficients on the position response and electromagnetic torque response of the flexure control are explored.Finally,experimental validation is carried out in a single-de-gree-of-freedom system,and the experimental results verify the effectiveness of the method.
关键词
主动柔顺控制/自抗扰控制/外力矩估计/关节驱动Key words
active flexibility control/active disturbance rejection control/external moment estimation/joint drive引用本文复制引用
基金项目
中国博士后科学基金(2020M670815)
国家自然科学基金重大研究计划(92048203)
浙江省实验室重点研究项目(2022NB0AC01)
出版年
2024
NETL
NSTL
万方数据