曲面轮廓恒力跟踪的非线性双闭环控制

发布时间：2018-11-22 10:07

【摘要】：针对机器人在跟踪未知曲面轮廓运动时,由于缺乏位置信息导致的接触力不恒定的问题,提出了非线性双闭环控制方法。该方法中的双闭环包括运动倾角的实时反馈校正器,以及基于非线性PID的法向接触力控制器。非线性PID控制器是由非线性跟踪微分器(TD)和状态误差反馈(SEF)构造的,基于线性PID框架的非线性控制器。首先,根据受力模型得到基于力反馈的运动倾角校正策略;另外,考虑到多维力传感器维间耦合的影响,对Maxwell三维力传感器的解耦矩阵进行了标定;同时,提出了力信号的自适应惯性滤波方法,改善了滤波器的灵敏度和稳定性,综合性能提高了34.42%;最后,实验验证了双闭环控制方法能有效提高力控制精度和稳定性,具有较强的可执行性和适应能力。
[Abstract]:In order to solve the problem of unsteady contact force caused by the lack of position information, a nonlinear double-closed loop control method is proposed for the robot to track the contour of unknown surfaces. The double close-loop in this method includes a real-time feedback corrector of motion inclination and a normal contact force controller based on nonlinear PID. Nonlinear PID controller is constructed by nonlinear tracking differentiator (TD) and state error feedback (SEF). It is a nonlinear controller based on linear PID framework. Firstly, according to the force model, the motion inclination correction strategy based on force feedback is obtained, and the decoupling matrix of Maxwell force sensor is calibrated considering the effect of the coupling between dimensions of the multi-dimension force sensor. At the same time, an adaptive inertial filtering method for force signal is proposed, which improves the sensitivity and stability of the filter, and improves the comprehensive performance by 34.42. Finally, the experimental results show that the dual closed loop control method can effectively improve the precision and stability of force control, and has strong executable and adaptive ability.
【作者单位】：华南理工大学机械与汽车工程学院;
【基金】：国家04科技重大专项(2015ZX04005006) 广东省科技重大专项(2014B090921004,2015B010918002) 广州市科技重大项目(201604040009)
【分类号】：TP242

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