柔性主从手臂系统自适应混合控制的研究

贾百龙;刘颖;小林幸德

振动与冲击 ›› 2011, Vol. 30 ›› Issue (12) : 44-48.

PDF(1652 KB)
PDF(1652 KB)
振动与冲击 ›› 2011, Vol. 30 ›› Issue (12) : 44-48.
论文

柔性主从手臂系统自适应混合控制的研究

  • 贾百龙1; 刘颖1; 小林幸德2
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Research on adaptive hybrid control of flexible master-slave system

  • JIA Bai-long1; LIU Ying1; KOBAYASHI Yukinori 2

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摘要

以柔性主从手臂系统为研究对象,提出了一种新的自适应混合控制方法。建立了系统的动力学模型,在系数敏感性实验的基础上,分析了控制器权重系数对系统性能的影响,提出根据系统实时跟踪误差调整控制器中的权重系数,进而设计了自适应双向控制器和基于LQR的自适应伺服控制器。并以此为基础,通过选取合理的阈值,将两种自适应控制器有效结合,设计了自适应混合控制器。实验结果表明,自适应混合控制有效提高了系统运动的稳定性,并显著减少了柔性执行手臂的振动衰减时间。

Abstract

To study the motion and vibration of Flexible Master-Slave System, in this study a new adaptive hybrid controller is designed. In order to improve the performance of the system, a dynamic model is established, parameters sensitivity is analyzed based on the experimental results, and then the adaptive bilateral controller and the adaptive servo controller based on LQR are designed, in both of which the parameters can be changed according to the real-time tracing error. Finally the adaptive hybrid controller is built, which combines the adaptive bilateral controller and adaptive servo controller based on LQR with the gauge of real-time tracing error. Experimental results indicate adaptive hybrid controller has improved the motion stability and vibration suppression performance significantly.

关键词

柔性主从手臂 / 系数敏感性 / 振动控制 / 自适应混合控制

Key words

flexible master-slave arm / parameter sensitivity / vibration control / adaptive hybrid control

引用本文

导出引用
贾百龙;刘颖;小林幸德. 柔性主从手臂系统自适应混合控制的研究[J]. 振动与冲击, 2011, 30(12): 44-48
JIA Bai-long;LIU Ying;KOBAYASHI Yukinori . Research on adaptive hybrid control of flexible master-slave system[J]. Journal of Vibration and Shock, 2011, 30(12): 44-48

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