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浙江大学学报(工学版)
J4  2012, Vol. 46 Issue (10): 1757-1763    DOI: 10.3785/j.issn.1008-973X.2012.10.004
机械与能源工程     
谐波驱动伺服系统的改进自适应鲁棒控制
王会方1,2, 朱世强2, 吴文祥2
1. 南京市特种设备安全监督检验研究院, 江苏 南京 210002；
2. 浙江大学 流体传动与控制国家重点实验室, 浙江 杭州 310027
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
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摘要：

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.
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 positiondependent friction, and the combination of coulomb friction and viscous friction was used to capture the nature of velocitydependent 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.
出版日期: 2012-10-01
:  TP 242.6  
基金资助:

浙江省自然科学基金资助项目（Y1100693）.
通讯作者: 朱世强，男，教授，博导.     E-mail: robotlab@zju.edu.cn
作者简介: 王会方(1982－),男, 博士生, 从事机器人及特种设备研究. E-mail: wangcliff777@yahoo.com.cn
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王会方, 朱世强, 吴文祥. 谐波驱动伺服系统的改进自适应鲁棒控制[J]. J4, 2012, 46(10): 1757-1763.

WANG Hui-fang, ZHU Shi-qiang, WU Wen-xiang. Improved adaptive robust control of servo system with harmonic drive. J4, 2012, 46(10): 1757-1763.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2012.10.004    或    http://www.zjujournals.com/eng/CN/Y2012/V46/I10/1757

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