柔性主从手臂系统自适应混合控制的研究

摘要

以柔性主从手臂系统为研究对象,提出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.%To study the motion and vibration of a flexible master-slave arm system, a new adaptive hybrid controller was designed here. In order to improve the performance of the system, a dynamic model was established, parameters sensitivity was analyzed based on experimental results, and then the adaptive bilateral controller and the adaptive servo controller based on LQR were designed. In both controllers, the parameters could be changed according to the real-time tracing error. Finally, the adaptive hybrid controller was built, it combined the adaptive bilateral controller and adaptive servo one based on LQR with the gauge of real-time tracing error. Experimental results indicated that the adaptive hybrid controller improves the motion stability and vibration suppression performance of the arm system significantly.