面向交互应用的串联弹性驱动器力矩控制方法

发布时间：2018-06-15 10:03

本文选题：串联弹性驱动器 + 力矩控制　；参考：《自动化学报》2017年08期

【摘要】：对于串联弹性驱动器(Series elastic actuator,SEA)而言,已有方法大都将其弹性组件视为线性弹簧.然而为了追求更高的能量密度,SEA的机械结构越来越复杂,使其控制问题更具挑战性;此外,现有方法均未考虑当SEA应用于交互系统中,其负载端动力学模型会产生剧烈变化的情况.针对这些问题,本文设计了一种面向交互应用的自适应滑模控制方法.具体而言,首先在考虑了非线性SEA输出特性及系统中可能存在的扰动的情况下,描述了SEA系统的动力学方程,并对其进行了分析和变换.在此基础上设计了负载运动观测器和自适应滑模控制器,使得本文方法能够在负载端动力学模型完全未知的情况下完成SEA的力矩控制.最后通过引入辅助系统,对输入饱和的情况进行了有效的处理.通过理论分析证明了闭环控制系统的稳定性及信号有界性,随后的仿真与实验结果也表明了这种自适应滑模控制器良好的控制性能和对不确定性因素的鲁棒性.
[Abstract]:For series elastic actuators (SEAs), most of the existing methods regard their elastic components as linear springs. However, in order to achieve higher energy density, the mechanical structure of sea is becoming more and more complex, which makes the control problem more challenging. In addition, the existing methods are not considered when sea is applied in interactive systems. The dynamic model on the load side will change dramatically. To solve these problems, an adaptive sliding mode control method for interactive applications is designed in this paper. Specifically, considering the nonlinear sea output characteristics and possible disturbances in the system, the dynamic equations of the sea system are described, and the dynamic equations are analyzed and transformed. Based on this, a load motion observer and an adaptive sliding mode controller are designed, which enables the method to complete the torque control of sea when the load end dynamics model is completely unknown. Finally, the input saturation is effectively treated by introducing the auxiliary system. The stability and signal boundedness of the closed-loop control system are proved by theoretical analysis. The simulation and experimental results show that the adaptive sliding mode controller has good control performance and robustness to uncertain factors.
【作者单位】：南开大学机器人与信息自动化研究所;天津市智能机器人技术重点实验室;
【基金】：国家自然科学基金(61573198)资助~~
【分类号】：TP273

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