强大的控制一个符合规范的操纵器,减少动力学和滑动扰动观察员的控制
Muhammad Salman1, Zhenwei Niu1, Rajmeet Singh1
1Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates.
Scientific reports
|March 16, 2025
概括
本研究介绍了一种强大的控制策略,适用于与离散可变刚度执行 (DVSA) 合规的操纵器,显著提高跟踪性能和减少能源消耗. 该方法在复杂的机器人交互中提高了安全性和适应性.
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
背景情况:
- 具有可变刚度调节 (VSA) 的合规操纵器对于安全的环境相互作用和复杂任务适应至关重要.
- 在VSA操纵器中的跟踪性能受到内在合规性和刚度变化的挑战.
研究的目的:
- 开发一个强大的控制策略,对离散可变刚度调节 (DVSA) 合规的操纵器.
- 为了提高在固定和变化的刚性条件下轨迹跟踪性能.
- 与传统方法相比,提高能源效率和控制流性.
主要方法:
- 实施滑动扰动观察器 (SPO) 来补偿非线性动力学,关节合,摩擦和刚度的变化.
- 为DVSA操纵器制定一个强有力的控制策略.
主要成果:
- 在固定硬度场景中实现了能源消耗的显著降低 (高达75.5%).
- 在突然硬度过渡期间,能耗降低了高达70.9%.
- 证明了流的控制输入,精确的跟踪和避免喋喋不休,优于传统控制器.
- SPO有效地估计了系统状态和干扰,补偿了非线性和干扰.
结论:
- 拟议的强有力的控制策略提高了符合DVSA规范的操纵器的跟踪性能和能源效率.
- 控制器在没有明确调整的情况下适应不同刚度的适应性强调了其实际可行性.
- 模拟和实验结果证实了在降低跟踪误差和能源消耗方面卓越的性能,特别是在具有挑战性的硬度变化下.
相关概念视频
01:07Time-Domain Interpretation of PD Control
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Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
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01:26PD Controller: Design
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01:19Root-Locus Method
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01:26Feedback control systems
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01:17Open and closed-loop control systems
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