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[1]张铁,胡广.曲面轮廓恒力跟踪的非线性双闭环控制[J].电机与控制学报,2017,21(07):99-106.[doi:10.15938/j.emc.2017.07.014]
 ZHANG Tie,HU Guang.Nonlinear dual-loop force controller of contour following[J].,2017,21(07):99-106.[doi:10.15938/j.emc.2017.07.014]
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曲面轮廓恒力跟踪的非线性双闭环控制(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年07
页码:
99-106
栏目:
出版日期:
2017-07-01

文章信息/Info

Title:
Nonlinear dual-loop force controller of contour following
作者:
张铁 胡广
?( 华南理工大学机械与汽车工程学院,广东广州510641)
Author(s):
?ZHANG Tie HU Guang
?( School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510641,China)
关键词:
工业机器人 力反馈 双闭环控制 轮廓跟踪 力传感器
Keywords:
industrial robot force feedback dual-loop control contour following force sensor
分类号:
TP 242. 2
DOI:
10.15938/j.emc.2017.07.014
文献标志码:
A
摘要:
?针对机器人在跟踪未知曲面轮廓运动时,由于缺乏位置信息导致的接触力不恒定的问题,提出了非线性双闭环控制方法。该方法中的双闭环包括运动倾角的实时反馈校正器,以及基于非线性PID 的法向接触力控制器。非线性PID 控制器是由非线性跟踪微分器( TD) 和状态误差反馈
( SEF) 构造的,基于线性PID 框架的非线性控制器。首先,根据受力模型得到基于力反馈的运动倾角校正策略; 另外,考虑到多维力传感器维间耦合的影响,对Maxwell 三维力传感器的解耦矩阵进行了标定; 同时,提出了力信号的自适应惯性滤波方法,改善了滤波器的灵敏度和稳定性,综合性能提高了34. 42%; 最后,实验验证了双闭环控制方法能有效提高力控制精度和稳定性,具有较强的可执行性和适应能力。
Abstract:
?Aiming at the problem that the contact force caused by the lack of position information is not constant,the nonlinear double closed-loop control method was proposed for the robot to track the unknown murface contour. Double-loop in this method includs movement angle adjuster based on real-time feedback,and the nonlinear PID normal contact force controller. This method is a nonlinear controller based on classical PID frame,composed of nonlinear tracking differentiator ( TD) and state error feedbacks ( SEF) . First,according to the force model,the motion inclination correction strategy based on force feedback was proposed. In consideration of the cross axis coupling of multi-dimensional force sensor, the decoupling matrix of Maxwell force sensor was calibrated. Meanwhile,adaptive inertia filtering method was proposed to improve the sensitivity and stability of filter,and the comprehensive performance is improved by 34. 42%. Finally,the dual-loop control method is verified by experiments. The proposed method can effectively improve the precision and stability,with a strong ability to adapt and enforceability.

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备注/Memo

备注/Memo:
收稿日期: 2016 - 04 - 10
基金项目: 国家04 科技重大专项( 2015ZX04005006 ) ; 广东省科技重大专项( 2014B090921004,2015B010918002 ) ; 广州市科技重大项目( 201604040009)
作者简介: 张铁( 1968—) ,男,教授,博士生导师,研究方向为机器人技术及应用;
胡广( 1991—) ,男,硕士,研究方向为机器人控制技术。
更新日期/Last Update: 2017-08-24