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| 基于鲁棒性参数设计法的多超声电机驱动机器人的控制 | |
| 引用本文： | 孙志峻,帅双辉,黄卫清. 基于鲁棒性参数设计法的多超声电机驱动机器人的控制[J]. 南京航空航天大学学报(英文版), 2009, 26(4): 243-250 |
| 作者姓名： | 孙志峻 帅双辉 黄卫清 |
| 作者单位： | 1. 南京航空航天大学机电学院,南京,210016,中国 2. 第二炮兵军代室,南京,210013,中国 3. 南京航空航天大学精密驱动研究所,南京,210016,中国 |
| 摘 要： | 由于超声电机复杂的能量转换机制和参数受温度和工作环境影响的非线性变化，使得很难对超声电机进行数学描述。为了使超声电机驱动的多关节机器人有较好的表现性能，根据超声电机的运动特点，提出了一种新颖的速度——位置双闭环反馈控制方式。鉴于该控制方式需要调节的控制参数有18个，为了获得一组具有鲁棒性的控制参数，选用了鲁棒性参数设计法。实践结果表明，所提出的控制方式能够获得机器人的良好运行性能，鲁棒性参数设计对超声电机而言是有效而方便的。 |
| 关 键 词： | 超声转换器 鲁棒控制 PID控制 位置-速度反馈 |
CONTROL OF ROBOT DRIVEN BY MULTIPLE ULTRASONIC MOTORS BASED ON ROBUST PARAMETER DESIGN |
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| Sun Zhijun,Shuai Shuanghui,Huang Weiqing. CONTROL OF ROBOT DRIVEN BY MULTIPLE ULTRASONIC MOTORS BASED ON ROBUST PARAMETER DESIGN[J]. Transactions of Nanjing University of Aeronautics & Astronautics, 2009, 26(4): 243-250 | |
| Authors: | Sun Zhijun Shuai Shuanghui Huang Weiqing |
| Affiliation: | Sun Zhijun~1,Shuai Shuanghui~2,Huang Weiqing~3 (1.College of Mechanical and Electrical Engineering,NUAA,29 Yudao Street,Nanjing,210016,P.R.China,2.Military Representative Room,the Second Artillery Corps,210013,3.Precision Driving Laboratory,P.R.China) |
| Abstract: | An ultrasonic motor (USM) is difficlt to be mathematically described because of its complex energy conversion and nonlinear parameters from increasing temperature and changing operating conditions.To achieve good performance of a three-joint robot directly driven by USM, according to the operating characteristics of USM, a new position-velocity feedback control strategy is proposed.In the control strategy, there are a total of 18 controller gains to be tuned.Through a series of "Design of Experiments" by the robust parameter design, an optimal and robust set of proportional integral derivative (PID) controller gains is obtained.Results show that the control strategy can achieve the best performance of the robot and the robust parameter design is effective and convenient to USMs. |
| Keywords: | ultrasonic transducers robust control proportional integral derivative(PID) control position-velocity feedback |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |