变刚度柔性关节机构的驱动调节控制优化

变刚度柔性关节机构在主-被动复合驱动调节时受到关节部位阻尼的作用，导致驱动调节的全局稳态性不好，提出一种基于复合式幅值饱和非线性状态反馈的变刚度柔性关节机构优化控制设计方法，构造变刚度柔性关节机构的动力学模型，以柔性关节等效刚度、阻尼力和关节弹簧压缩量等参量为控制约束参量，建立变刚度柔性关节机构的被控对象模型，结合幅值饱和非线性状态反馈控制方法进行自适应阻尼误差修正，根据主-被动复合刚度特性进行变刚度柔性关节机构的驱动惯性参量调节，实现关节机构驱动调节控制。仿真结果表明，采用该方法进行变刚度柔性关节机构控制的稳定性较好，驱动调节能力较强。

Optimization of driving and regulating control for flexible joint mechanism with variable stiffness

The flexible joint mechanism with variable stiffness is affected by joint damping when it is controlled by active and passive composite drive, which leads to poor global steady-state of driving regulation. An optimal control design method for flexible joint mechanism with variable stiffness based on compound amplitude saturation nonlinear state feedback is proposed. The dynamic model of flexible joint mechanism with variable stiffness is constructed, and the equivalent stiffness of flexible joint is used. The damping force and the compression of the joint spring are the control constraints. The controlled object model of the flexible joint mechanism with variable stiffness is established. The adaptive damping error is corrected by using the amplitude saturation nonlinear state feedback control method. According to the characteristics of active and passive composite stiffness, the driving inertia parameter of flexible joint mechanism with variable stiffness is adjusted, and the driving regulation control of joint mechanism is realized. The simulation results show that the stability of the flexible joint mechanism with variable stiffness is better and the driving ability is better.