吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 1906-1912.doi: 10.13229/j.cnki.jdxbgxb201506026

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考虑摩擦特性的机器人柔性关节鲁棒控制器设计

陈健， 葛连正， 李瑞峰   

  1. 哈尔滨工业大学 机器人技术与系统国家重点实验室,哈尔滨 150080
  • 收稿日期:2014-03-17 出版日期:2015-11-01 发布日期:2015-11-01
  • 通讯作者: 李瑞峰(1965-),男,教授,博士生导师.研究方向:工业机器人技术,智能服务机器人技术.E-mail:lrf100@hit.edu.cn
  • 作者简介:陈健(1983-),男,博士.研究方向:工业机器人鲁棒控制.E-mail:phevanschen@gmail.com
  • 基金资助:
    国家自然科学基金项目(61273339)

Design of robust controller for robot flexible joint with friction characteristic

CHEN Jian, GE Lian-zheng, LI Rui-feng   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
  • Received:2014-03-17 Online:2015-11-01 Published:2015-11-01

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摘要： 针对非线性摩擦特性对柔性关节机器人控制性能的影响,提出了采用H∞鲁棒原理设计控制器的方法。采用描述函数方法在频域分析非线性摩擦的描述函数,将非线性摩擦因素表达为相对于名义模型的逆加性不确定性。依据控制性能要求选取合理的控制量、噪声抑制和跟踪误差加权函数,将其转换为LMI最优问题进行求解。时域仿真结果表明:所设计控制器不仅具有鲁棒性能,并且具有快速、准确地跟踪轨迹指令的能力以及抑制干扰的作用。

关键词: 机械制造自动化, 柔性关节机器人, 非线性摩擦, 描述函数法, 鲁棒控制

Abstract: A robust controller framework for flexible joint robot is presented, in which the effect of nonlinear friction on control performance is considered. The nonlinear friction is denoted as inverse additive output uncertainty relative to the nominal model. Based on this the describing function is analyzed in frequency domain, and the weighting function of nonlinear friction is further calculated. Combing the friction uncertainty, the Linear Matrix Inequality (LMI) optimization is proposed as the benchmark for controller design, which leads to good performance robustness. Simulation results show that the proposed controller can provide excellent command tracking and regulation performance.

Key words: robot joint with flexibility, nonlinear friction, describing function method, robust control

中图分类号: 

  • TP241.2
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