Adaptive anti-windup controller design for the piano playing robot control

摘要

In this paper, an adaptive anti-windup approach is addressed for the controller design of the anthropomorphic piano robot. The implemented anthropomorphic music playing robot has a pair hands and ten fingers. Here, the hands are driving by two linear PMSMs with a common track. According to the analysis of the music note playing, the setting time of the linear PMSM positioning response is the most important factor for the robot playing performance. Due to the limitation of motor driving force, the actuator may fall into the saturated region and lead to the nonlinear situation at each instant of the position commanding. This saturation will cause the positioning response serious delay. A fixed gain anti-windup controller can't match the requirement of a widely positioning control. In order to realize an accurate and rapid position control system, an adaptive anti-windup controller is designed to the velocity control loop of linear motor to cope with the various positioning command. By eliminating the windup situation of the linear motor control, the setting time of positioning response will be shortened and it will make the playing performance smooth and rapid. Through the FPGA-based implementation, by the parallel control structure designing, each palm of the robot has its independent control loop to get the palm's action rapidly and precisely. From the experiments of the prototype, the results have given the verification about the practical control method and the realizable implementation.