摘要
航天器零部件具有多品种、小批量的特点,自动化装配难以保证高精度的位置控制和柔顺的接触力控制。为充分发挥人的知识决策和机器人的力量精度优势,本文提出了一种基于阻抗和导纳控制的加权混合控制策略,采用加权平均的方法,根据环境刚度以及期望性能调节阻抗控制和导纳控制的相对权重,协调阻抗和导纳控制的混合控制效果。试验表明,混合控制算法控制性能良好,运动过程平稳,振荡幅度仅为阻抗控制的33%、导纳控制的80%;达到稳定状态的调节时间短,稳定时长仅为导纳控制的75%、导纳控制的90%。该控制策略融合了两种控制方法的优点,适应性强,在不同的刚度环境下都具备良好的柔顺性。
Spacecraft parts have the characteristics of variety and small batch.It is difficult to ensure high-precision position control and flexible contact force control in automatic assembly.In order to give full play to the advantages of human knowledge decision-making and robot power precision,a weighted hybrid control strategy based on impedance and admittance control is proposed.The weighted average method is used to adjust the relative weight of impedance control and admittance control according to the environmental stiffness and expected performance so as to coordinate the hybrid control effect of impedance and admittance control.Experiments show that the hybrid control algorithm has good control performance and stable motion process.The oscillation amplitude is only 33%of impedance control and 80%of admittance control.The adjustment time to reach the stable state is short,and the stable time is only 75%of the admittance control and 90%of the admittance control.With the advantages of the two control methods,the control strategy has strong adaptability and good compliance in different stiffness environments.
作者
王剑
李成刚
岳云双
储亚东
钱鸿巍
李檬
Wang Jian;Li Chenggang;Yue Yunshuang;Chu Yadong;Qian Hongwei;Li Meng(Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China)
出处
《航空科学技术》
2022年第2期90-96,共7页
Aeronautical Science & Technology
基金
航空科学基金(201916052001)
南京航空航天大学开放基金(kfjj20200515)。
关键词
航天器零部件
柔顺装配
阻抗导纳
加权平均
混合控制
spacecraft components
flexible assembly
impedance admittance
weighted average
hybrid control
