A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Compar...A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has ＂explosion of terms＂ problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control （DSC） technique can resolve the ＂explosion of terms＂ problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF （degree of freedom） flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were nchieved successfully as depicted theoretically.展开更多
To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer developme...To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.展开更多
针对过程复杂且结构未知的对象,在保证模型有效性的前提下,根据数据信息构建简单模型来简化控制器的求解是亟待解决的问题。以受控自回归模型为例,提出一种基于修正最小角回归算法的稀疏辨识方法。首先将系统模型转化为过参数化的高维...针对过程复杂且结构未知的对象,在保证模型有效性的前提下,根据数据信息构建简单模型来简化控制器的求解是亟待解决的问题。以受控自回归模型为例,提出一种基于修正最小角回归算法的稀疏辨识方法。首先将系统模型转化为过参数化的高维稀疏模型,然后将最小角回归算法用于稀疏系统辨识,并提出绝对角度停止准则,使算法经过少量的迭代即可获得模型的稀疏参数估计,并同时获得有效的时滞和阶次估计。结合辨识得到的受控自回归模型,引入一种基于指定相位点频率和增益的比例-积分-微分(proportional integral derivative,PID)控制器。数值仿真和平衡机器人的姿态控制仿真表明,该稀疏辨识算法在低数据量下具有较高的辨识精度,建立的模型具有较好的泛化性能,控制器具有良好的控制效果。展开更多
基金Project(2006AA04Z228) supported by the National High-Tech Research and Development Program of ChinaProject(PCSIRT) supported by Program for Changjiang Scholars and Innovative Research Team in University
文摘A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has ＂explosion of terms＂ problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control （DSC） technique can resolve the ＂explosion of terms＂ problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF （degree of freedom） flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were nchieved successfully as depicted theoretically.
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.
文摘针对过程复杂且结构未知的对象,在保证模型有效性的前提下,根据数据信息构建简单模型来简化控制器的求解是亟待解决的问题。以受控自回归模型为例,提出一种基于修正最小角回归算法的稀疏辨识方法。首先将系统模型转化为过参数化的高维稀疏模型,然后将最小角回归算法用于稀疏系统辨识,并提出绝对角度停止准则,使算法经过少量的迭代即可获得模型的稀疏参数估计,并同时获得有效的时滞和阶次估计。结合辨识得到的受控自回归模型,引入一种基于指定相位点频率和增益的比例-积分-微分(proportional integral derivative,PID)控制器。数值仿真和平衡机器人的姿态控制仿真表明,该稀疏辨识算法在低数据量下具有较高的辨识精度,建立的模型具有较好的泛化性能,控制器具有良好的控制效果。
