| μ理论在柔顺力控制中的应用 |
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| 引用本文： | 张尚盈,韩俊伟,赵慧,黄其涛.μ理论在柔顺力控制中的应用[J].中国航空学报,2006,19(1):89-96. |
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| 作者姓名： | 张尚盈 韩俊伟 赵慧 黄其涛 |
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| 作者单位： | [1]School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001 , China [2]School of Mechanical Automation, Wuhan University of Science and Technology, Wuchang 430081 , China |
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| 摘 要： | 研究μ理论在柔顺力控制系统中的应用.为模拟空间对接强制校正阶段的推出和拉近过程,提出基于6自由度并联机器人位置内环的柔顺力控制策略.综合考虑参数变化、模型变动和外来干扰等不确定性,利用μ综合控制理论设计鲁棒力控制器.通过μ分析比较鲁棒力控制器和经典力控制器的鲁棒稳定性和鲁棒性能.给出鲁棒力控制器和经典力控制器的实验结果,表明所设计鲁棒力控制器的有效性和优越性.
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| 关 键 词： | 并联机器人 μ综合 μ分析 柔顺力控制 不确定性 鲁棒 parallel robot μ synthesis μ analysis compliant force control uncertainty robust |
| 文章编号： | 1000-9361（2006）01-0089-08 |
| 收稿时间： | 2005-05-23 |
| 修稿时间： | 2005-09-02 |
Application of μ Theory in Compliant Force Control |
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| ZHANG Shang-ying,HAN Jun-wei,ZHAO Hui,HUANG Qi-tao.Application of μ Theory in Compliant Force Control[J].Chinese Journal of Aeronautics,2006,19(1):89-96. |
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| Authors: | ZHANG Shang-ying HAN Jun-wei ZHAO Hui HUANG Qi-tao |
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| Institution: | 1, School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001 , China ;2, School of Mechanical Automation, Wuhan University of Science and Technology, Wuchang 430081 , China |
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| Abstract: | The application of μ theory in compliant force control system is studied. A compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate the push and pull process of forcible alignment in space docking. Considering uncertainties such as parameter perturbations, model perturbations and external disturbances, etc., a robust force controller is designed using μ synthesis theory. The robust stability and robust performance are compared by μ analysis between the designed robust force controller and the classical force controller. The experiment results of the designed robust force controller and the classical force controller are shown. The results indicate that the designed robust force controller is of efficiency and superiority. |
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