系列弹性执行器的L1适应共振比控制,保证过渡性能
Feiyan Min1, Gao Wang1, Xueqin Chen2
1Department of Electronic Engineering, Jinan University, Guangzhou, China.
ISA transactions
|September 5, 2024
概括
这项研究通过将共振比控制 (RRC) 与L1自适应控制 (L1AC) 结合起来,改善了系列弹性执行器 (SEA) 的控制. 改进的方法显著降低了振动和超速,以提高机器人关节的性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械工程 机械工程
背景情况:
- 系列弹性执行器 (SEA) 对于符合规定的机器人关节至关重要.
- 现有的SEA控制方法与振动和过渡性性能问题如超越和静态错误作斗争.
研究的目的:
- 通过整合L1自适应控制 (L1AC) 来增强SEAs的共振比控制 (RRC) 算法.
- 在SEA位置控制中解决和减轻超越,静态错误和振动.
- 提高SEA控制系统的整体过渡性性能和稳定性.
主要方法:
- 在SEA弹性传动结构中分析电机和链路侧面之间的共振.
- 将L1自适应控制 (L1AC) 与RRC算法的集成.
- 增加重力补偿以减少错误.
- 通过关键控制参数探索进行稳定性分析.
主要成果:
- 改进的RRC-L1AC算法显示,超越 (≤1.1%) 和链侧动 (≤0.2°) 的显著降低.
- 重力补偿有效地减少了预测和参考误差,改善了短暂的性能.
- L1AC的低通波器特性使得在碰撞时能够有效地处理干扰和保护反应,调节速度和限制电流.
结论:
- 拟议的RRC-L1AC算法在SEA位置控制中提供了优越的性能,与RRC和模型参考自适应控制相比.
- 增强的控制策略有效地降低了振动和超速,从而改善了短暂响应和稳定性.
- 该算法在碰撞时提供了固有的安全功能,保护环境,人类和SEA本身.
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