基于定量反馈理论的液压机器人单关节鲁棒控制器

摘要

Single joint performance of hydraulic robot directly affected the overall performance of the robot control.The uncertainty and time—varying of hydraulic system parameters decreased the control precision and response speed of single joint,which requested the single joint controller had robustness.A mathematic model of servo valve controlling swaying hydraulic cylinder was established and the system parameter uncertainty was analyzed.Based on quantitative feedback theory(QFT),a single joint robust controller was designed.Simulation shows that the controller has strong robustness against the slope interference and sine interference.Experimental results verify the correctness of the robust controller.%液压机器人单关节性能直接影响机器人整体控制性能,液压系统参数的不确定性和时变性降低了机器人单关节控制精度和响应速度,因此要求机器人单关节控制器具有鲁棒性.建立了伺服阀控制摆动液压缸数学模型,分析了系统参数的不确定性,应用定量反馈理论(QFT)设计了单关节鲁棒控制器.仿真表明,该控制器对斜坡干扰和正弦干扰都具有较强的鲁棒性,实验验证了控制算法的正确性.