摘要
干扰是影响机电伺服系统性能的主要因素。SCARA机器人的第一和第二2个关节伺服系统具有复杂的动力学结构。综合考虑实际系统中模型参数不确定性和系统外部干扰,提出了采用干扰观测器(disturbance observer,DOB)进行干扰抑制的方法。该方法对负载变化、模型不确定性等干扰均能有效抑制,且实现简单,在抑制周期性负载交变干扰上,优于传统PID控制器。在HL863-R101型SCARA机器人关节伺服系统中进行了实验和验证,实验结果表明,DOB对SCARA机器人关节伺服系统的干扰有较强的观测和补偿控制能力。
Disturbance is the main factor affecting the electromechanical servo system performance. Since the first and second joints of SCARA-type manipulator have complex dynamic structure. Considering the model parameter uncertainty and external disturbance of the real plant, a disturbance-rejection method which uses the disturbance observer （DOB） was proposed. It can reject the disturbances effectively, such as load variations, the uncertainty of model etc. It can be implemented easily, and is better than the traditional PID controller for the periodic disturbance. To verify the effectiveness of the proposed strategy, the real experiments were performed for HL863-R101 SCARA-type manipulator. The results show that the disturbances can be compensated effectively in the joints servo system of SCARA-type manipulator.
出处
《机床与液压》
北大核心
2007年第7期149-152,共4页
Machine Tool & Hydraulics
关键词
干扰补偿
参数辨识
干扰观测器
Disturbance compensation
Parameter identification
Disturbance observer
