摘要
针对关节机器人单独采用自适应控制方法时效果不佳的问题,本文设计了端口受控哈密顿系统方法与自适应混合控制方案。首先给出了机器人及其驱动系统的数学模型,然后采用自适应方法控制机器人关节位置,并采用端口受控哈密顿系统方法控制驱动电机,兼顾了快速性、控制精度与稳定性,同时,以二自由度机器人为例进行仿真分析。仿真结果表明,采用端口受控哈密顿与自适应混合控制时的系统动态响应时间更小,能够更快的达到稳态,并且稳态性能更良好,稳态误差基本为零,验证了控制方法的有效性。该研究具有广阔的应用前景。
For the poor performance when joint robot works only with adaptive control method,a control method based on adaptive control and Port-Controlled Hamiltonian(PCH)control is proposed in this paper.First of all,we establish the mathematical model of the robot and its drive system,and take adaptive control method for controlling the robot joint position,and port-controlled Hamiltonian method for controlling the drive motor.Then appropriate adaptive controller and the port-controlled Hamiltonian controller are designed,taking into account the control rapidity,accuracy and stability,which is simulated with two degrees of freedom robot.The simulation results show that the joint robot with adaptive control port-controlled Hamiltonian control has smaller dynamic response time and can reach steady-state fast,which has more good steady performance with a steady-state error of zero,verifying the effectiveness of the method.The study has broad application prospects.
出处
《青岛大学学报（工程技术版）》
CAS
2016年第3期39-43,53,共6页
Journal of Qingdao University(Engineering & Technology Edition)
基金
国家自然科学基金资助项目(61573203
61573204)
