本文關(guān)鍵詞：柔性關(guān)節(jié)機(jī)器人動力學(xué)建模及控制　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 柔性關(guān)節(jié)機(jī)器人 動力學(xué)模型 分級滑�？刂� 動態(tài)面滑模控制 自抗擾控制

【摘要】：諧波減速器具有傳動比大、承載能力大、體積小、高效率等優(yōu)點(diǎn),被廣泛應(yīng)用于關(guān)節(jié)型機(jī)器人的機(jī)械傳動系統(tǒng)中。由于諧波減速器內(nèi)部存在著柔性元件,在給機(jī)器人關(guān)節(jié)帶來附加自由度的同時,也會帶來柔性振動、不確定性和未知干擾等一系列問題。為使柔性關(guān)節(jié)機(jī)器人具備良好的控制性能,控制算法需要最大限度地抑制關(guān)節(jié)柔性振動,具有強(qiáng)的抗擾能力,并且對系統(tǒng)中的不確定因素具有魯棒性。本文對柔性關(guān)節(jié)機(jī)器人的數(shù)學(xué)建模與控制方法開展研究。論文主要工作及創(chuàng)新點(diǎn)如下:1)具有柔性關(guān)節(jié)的四自由度機(jī)器人動力學(xué)建模。應(yīng)用拉格朗日法建立了帶有柔性關(guān)節(jié)的四自由度機(jī)器人的動力學(xué)模型,為柔性關(guān)節(jié)機(jī)器人控制方法研究奠定了基礎(chǔ)。2)針對柔性關(guān)節(jié)機(jī)器人的定點(diǎn)控制任務(wù),研究了分級滑模控制(Hierarchical Sliding Mode Control,HSMC)方法。在假設(shè)干擾有界和系統(tǒng)狀態(tài)全反饋條件下,設(shè)計了一種分級滑�？刂坡�,并應(yīng)用Lyapunov理論證明閉環(huán)系統(tǒng)的穩(wěn)定性。針對滑�？刂浦械亩墩褚种茊栴},提出了兩種基于分級滑模思想的改進(jìn)滑模控制器。首先,通過引入冪函數(shù)替代符號函數(shù)削弱抖振的影響。進(jìn)一步地,設(shè)計了基于雙冪次趨近律的分級滑�？刂坡�,在抑制抖振的同時,使得系統(tǒng)狀態(tài)兼具較快的趨近速度和較好的動靜態(tài)性能。仿真結(jié)果驗(yàn)證了所提控制算法的有效性。3)針對柔性關(guān)節(jié)機(jī)器人時變軌跡跟蹤控制任務(wù),研究了基于動態(tài)面的滑模控制方法。在假設(shè)干擾有界和系統(tǒng)狀態(tài)全反饋條件下,設(shè)計了一種動態(tài)面滑模控制(Dynamic Surface Sliding Model Control,DSSMC)方法,簡化了傳統(tǒng)反演控制中對虛擬控制量的求導(dǎo)過程,應(yīng)用Lyapunov理論證明閉環(huán)系統(tǒng)半全局一致有界。進(jìn)一步地,提出了一種模糊動態(tài)面滑�？刂�(Fuzzy Dynamic Surface Sliding Model Control,FDSSMC)方法,采用模糊規(guī)則對滑�？刂浦械那袚Q項(xiàng)增益進(jìn)行自調(diào)整,在對干擾進(jìn)行補(bǔ)償?shù)耐瑫r,有效減小了抖振。仿真驗(yàn)證了所提控制方法的有效性。4)針對柔性關(guān)節(jié)剛度系數(shù)變化、連桿轉(zhuǎn)動慣量不確定以及柔性振動引起的內(nèi)部擾動等問題,研究了一種柔性關(guān)節(jié)自抗擾控制器(Active Disturbance Rejection Controller,ADRC)的設(shè)計方法。在建立Quanser柔性關(guān)節(jié)實(shí)驗(yàn)系統(tǒng)動力學(xué)模型的基礎(chǔ)上,將參數(shù)不確定及柔性振動等效為干擾,構(gòu)造五階線性擴(kuò)張狀態(tài)觀測器對其進(jìn)行估計,并設(shè)計了帶有干擾補(bǔ)償?shù)淖钥箶_控制器。該控制器可調(diào)參數(shù)少、調(diào)試簡單,不依賴于關(guān)節(jié)角速度反饋且魯棒性好。實(shí)驗(yàn)結(jié)果驗(yàn)證了控制器的魯棒性。
[Abstract]:The harmonic reducer with large transmission ratio, large bearing capacity, small volume, high efficiency and other advantages, the mechanical transmission system is widely used in the robot. The harmonic reducer exists inside the flexible element, the additional degrees of freedom at the same time to the robot joint, flexible vibration will also bring a series of problems, uncertainty and the unknown disturbance. The flexible joint robot has good control performance and control algorithms need to minimize joint flexible vibration, strong anti-interference ability, and is robust to the uncertainties in the system. This research focuses on the flexible joint robot modeling and control method. The main work and the innovation points are as follows: 1) the four degree of freedom robot dynamics modeling with flexible joints. The application of Lagrange method to establish the four DOF robot with flexible joints. Dynamic model,.2 provides a basis for research on control method of flexible joint robot) point control for flexible joint robot task, study the hierarchical sliding mode control (Hierarchical Sliding Mode Control, HSMC). Under the assumption of bounded disturbance and the system state feedback condition, design a hierarchical sliding mode control law and application Lyapunov theory to prove the stability of the closed-loop system. To suppress chattering in sliding mode control, presents two kinds of improved sliding mode controller based on the idea of hierarchical sliding mode. First of all, to weaken the buffeting by introducing the power function instead of sign function. Further, the design of hierarchical sliding mode dual power reaching law control law based on the suppress chattering at the same time, the state has fast reaching speed and good dynamic and static performance. The simulation results verified the validity of the control algorithm for.3) The trajectory tracking control of flexible joint robot task of time-varying sliding mode control method based on dynamic surface. Under the assumption of bounded disturbance and system state feedback condition, design a dynamic sliding mode control (Dynamic Surface Sliding Model Control, DSSMC) method, simplifies the derivation process of the virtual control of the traditional inversion control the application of Lyapunov theory, the closed-loop control system is proved to be semi globally uniformly bounded. Furthermore, the paper proposed a fuzzy sliding mode control (Fuzzy Dynamic dynamic surface Surface Sliding Model Control, FDSSMC) method, using the fuzzy rules of switching gain of sliding mode control of self adjustment in compensation to reduce the interference at the same time, the chattering..4 simulation verifies the effectiveness of the proposed control method) according to the changes of the joint stiffness coefficient, connecting the uncertainty of inertia and flexible vibration caused by the Disturbing problems, study a flexible joint ADRC (Active Disturbance Rejection Controller, ADRC) design method. Based on establishing the dynamic model of flexible joint Quanser experimental system, the uncertain parameters and vibration equivalent disturbance, construct five order linear extended state observer to estimate, and designed with disturbance compensation ADRC controller. The controller is less adjustable parameters, simple debugging, do not rely on feedback in the joint angle speed and robust. The experimental results verify the robustness of the controller.

【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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