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浙江大学学报(工学版)
J4  2012, Vol. 46 Issue (4): 764-769    DOI: 10.3785/j.issn.1008-973X.2012.04.028
电气工程     
基于简化非线性观测器的LuGre动态摩擦力补偿
钟琮玮, 项基, 韦巍, 张远辉
浙江大学 电气工程学院,浙江 杭州 310027
Simple nonlinear observer based dynamic LuGre friction compensation
ZHONG Cong-wei, XIANG Ji, WEI Wei, ZHANG Yuan-hui
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
 全文: PDF 
摘要：

针对机械手臂控制中使用LuGre模型进行动态摩擦力补偿时的内部摩擦力状态识别问题,在已有的非线性观测器和基于滑模的观测器的研究基础上,缩减非线性观测器中的冗余部分,提出简化非线性观测器.采用Lyapunov方法分析基于该观测器的自适应控制算法的稳定性,说明简化观测器的使用条件为加入合适的低通滤波器,消除速度采样高频波动对观测结果的影响.实验结果对比了3种内部摩擦力状态观测器在动态LuGre摩擦力补偿中对手臂控制效果的影响,采用3种观测器进行自适应跟踪控制时的位置跟踪精度分别可以达到0.010、0.009和0.004 rad.实验表明,采用简化观测器可以取得比前2种观测器更好的自适应控制效果.
关键词： 机械手;  自适应控制;  摩擦力补偿;  LuGre模型;  非线性观测器    
Abstract:

Obtaining the internal bristle-deflection state of the LuGre model is difficult in the control design when using the LuGre model to achieve dynamic friction compensation in the manipulator control. The observation result differs while using different observers to get the state. A simple nonlinear observer, which is a simplification of De Wit’s nonlinear observer, was developed. The stability of the adaptive control was analyzed using the second Lyapunov theory. A low-pass filter was added to remove the influence of the high frequency noise of joint velocities measurements. The tracking accuracy using the nonlinear observer, the sliding-mode based observer and the simple nonlinear observer were 0.010, 0.009 and 0.004 rad respectively. The better position tracking performance with simple nonlinear observer was verified through a series of experimental results.
Key words: robot manipulator    adaptive control    friction compensation    LuGre model    nonlinear observer
出版日期: 2012-05-02
:  TP 241  
基金资助:

国家“863”高技术研究发展计划资助项目(2008AA042602)；国家自然科学基金资助项目(60704030)；中央高校基本科研业务费专项资金资助项目(KYJD09035).
通讯作者: 韦巍，男，教授，博导.     E-mail: wwei@zju.edu.cn
作者简介: 钟琮玮(1984—)，男，博士生，从事机械手臂控制、视觉伺服研究.E-mail: congwei.zhong@gmail.com
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钟琮玮, 项基, 韦巍, 张远辉. 基于简化非线性观测器的LuGre动态摩擦力补偿[J]. J4, 2012, 46(4): 764-769.

ZHONG Cong-wei, XIANG Ji, WEI Wei, ZHANG Yuan-hui. Simple nonlinear observer based dynamic LuGre friction compensation. J4, 2012, 46(4): 764-769.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2012.04.028    或    http://www.zjujournals.com/xueshu/eng/CN/Y2012/V46/I4/764

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