气液联控柔顺力控制系统及其自适应试验研究

Pneumatic Hydraulic Combination Compliant Force Control System with Adaptive Experiments

针对阻抗控制中力控制的难点在于不能精确知道外界环境的刚度和位置,继而导致跟踪误差的问题,采用滑模位置控制器及自适应控制方法,设计了气液联控柔顺力控制系统.在外界环境模拟系统分别做往返斜坡运动(8 mm/s),以及在0.1 Hz正弦运动下,进行了气液联控柔顺力控制的试验研究.试验结果显示,位移的最大相对误差分别为1.85%和1.1%,力跟踪的最大相对误差分别为2.5%和1.85%,表明此方法具有较好的鲁棒性,可以克服系统对于环境参数精确性的依赖.

Aiming at the difficulty of force control in impedance control puzzled by unknown stiffness and position of environment to result in tracking error, the pneumatic hydraulic combination compliant force control system is designed via sliding position controller combining with adaptive control method. The compliant force control tests are conducted under the conditions that the environment moves at 8 mm/s repeatedly on a slope and 0. 1 Hz sine movement respectively. The result shows the maximum relative position errors get to 1. 85% and 1.1% and the maximum relative force tracking errors get to 2.5% and 1.85% respectively, which indicates the better robusticity of the system to eliminate dependence of the precise parameter of the environment.