| 基于新型补偿控制策略的柔性关节控制器设计 |
| |
| 引用本文： | 党进,倪风雷,刘业超,刘宏.基于新型补偿控制策略的柔性关节控制器设计[J].机器人,2011,33(2):150-155. |
| |
| 作者姓名： | 党进 倪风雷 刘业超 刘宏 |
| |
| 作者单位： | 1. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150001
2. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150001;德国宇航中心机器人与机电一体化研究所,德国,慕尼黑,82230 |
| |
| 基金项目： | 国家863计划资助项目，教育部"111"创新引智计划项目，长江学者和创新团队发展计划项目 |
| |
| 摘 要： | 柔性关节机器人控制系统中存在不确定性扰动、摩擦力、参数变化以及建模误差等问题,而常规PID控制无法兼顾稳定性和控制精度的要求,为此设计了一种基于新型补偿控制策略的柔性关节鲁棒控制器.控制器设计中,将摩擦力分为线性和非线性两部分,扰动分为确定性和不确定性两部分:机器人自身结构相关量、确定性扰动以及摩擦力的线性部分可以通过...
|
| 关 键 词： | 柔性关节 摩擦 扰动 补偿 鲁棒控制 |
Design for Flexible Joint Controller Based on a New Compensation Control Strategy |
| |
| DANG Jin,NI Fenglei,LIU Yechao,LIU Hong.Design for Flexible Joint Controller Based on a New Compensation Control Strategy[J].Robot,2011,33(2):150-155. |
| |
| Authors: | DANG Jin NI Fenglei LIU Yechao LIU Hong |
| |
| Affiliation: | DANG Jin~1,NI Fenglei~1,LIU Yechao~1,LIU Hong~(1,2) (1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China,2.Institute of Robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany) |
| |
| Abstract: | For the uncertain disturbance,friction and parameter variation,modeling errors and other issues in flexible joint robot control system,conventional PID control can not take into account both the requirements of stability and control accuracy.To solve this problem,a novel robust joint controller based on a new compensation control strategy is designed.In the controller design,the friction is divided into two parts,linear and nonlinear,and the disturbance into certain and uncertain. The part associated with t... |
| |
| Keywords: | flexible joint friction disturbance compensation robust control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
