|
|
|
| Improved adaptive robust control of servo system with harmonic drive |
| WANG Hui-fang1,2, ZHU Shi-qiang2, WU Wen-xiang2 |
1. Nanjing Special Equipment Safety Supervision Inspection Institute, Nanjing 210002, China;
2. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China |
|
|
|
Abstract Considering the nature of position-dependent friction, an improved adaptive robust control algorithm was proposed for servo system with harmonic drive which was subject to significant nonlinear friction parameter, uncertainties and disturbance.The combination of sinusoidal and cosinoidal functions of positions with unknown weights was used to effectively capture the nature of positiondependent friction, and the combination of coulomb friction and viscous friction was used to capture the nature of velocitydependent friction.A proportional part of adaptive law was applied based on the desired compensation adaptive robust controller in order to improve the performance of parameters identification and attenuate high-frequency disturbance.The global stability of the system was proved theoretically.The proposed control scheme was applied to the same single-link manipulator together with adaptive robust control and desired compensation adaptive robust control under two sets. One considered the position-dependent friction and the other did not.Experimental results confirmed the validity of the proposed control scheme by comparing it with other control strategies.
|
|
Published: 01 October 2012
|
|
|
谐波驱动伺服系统的改进自适应鲁棒控制
针对谐波驱动伺服系统存在参数不确定性、干扰及非线性摩擦的问题,考虑位置相关摩擦的特性,提出改进自适应鲁棒控制算法.采用未知参数的正余弦函数组合的形式表征位置相关摩擦的特性,采用库仑-黏性摩擦表征速度相关摩擦力的特性.在期望补偿自适应鲁棒控制算法的基础上,增加自适应律的比例项,提高参数辨识的性能,有效抑制系统高频干扰.理论证明了控制系统的全局稳定性.分别在考虑位置摩擦和未考虑位置摩擦的情况下,采用自适应鲁棒控制、期望补偿自适应鲁棒控制及改进自适应鲁棒控制算法对单自由度机械臂的谐波驱动伺服系统进行实验研究.结果表明,该方法具有良好的控制性能.
|
|
| ［1］ 张晓东,贾庆轩,孙汉旭.空间机器人柔性关节轨迹控制研究［J］.宇航学报,2008,29(6): 1865-4869.
ZHANG Xiaodong, JIA Qingxuan, SUN Hanxu. The research of space robot flexible joint trajectory control ［J］. Journal of Astronautics, 2008, 29(6): 1865-4869.
［2］ LI Z. Development and control of a modular and recongurable robot with harmonic drive transmission system ［D］. Waterloo: University of Waterloo, 2008.
［3］ ZHU W H, DUPUIS E, DOYON M. Adaptive control of harmonic drives ［J］. Journal of Dynamic Systems, Measurement, and Control, 2007, 129(2): 182-193.
［4］ YAMAMOTO M, IWASAKI M, HIRAI H, et al. Modeling and compensation for angular transmission error in harmonic drive gearings ［J］. IEEE Transactions on Electrical and Electronic Engineering, 2009, 4(2): 158-165.
［5］ KENNEDY C W, DESAI J P. Modeling and control of the Mitsubishi PA10 robot arm harmonic drive system ［J］. IEEE/ASME Transactions on Mechatronics, 2005, 10(3): 263-274.
［6］ MELHEM K, WANG W. Global output tracking control of flexible joint robots via factorization of the manipulator mass matrix ［J］. IEEE Transactions on Robotics, 2009, 25(2): 428-437.
［7］ TANG Y, SUN F, SUN Z. Neural network control of flexiblelink manipulators using sliding mode ［J］. Neurocomputing, 2006, 70(1/2/3): 288-295.
［8］ ABDOLLAHI F, TALEBI H A, PATEL R V. A stable neural networkbased observer with application to flexiblejoint manipulators ［J］. IEEE Transactions on Neural Networks, 2006, 17(1): 118-129.
［9］ YAO B. Desired compensation adaptive robust control ［J］. Journal of Dynamic Systems, Measurement, and Control, 2009, 131(6): 061001-7.
［10］ TAGHIRAD H D, BELANGER P R. Modeling and parameter identification of harmonic drive systems ［J］. Journal of Dynamic Systems, Measurement, and Control, 1998, 120(12): 439-444. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
