基于核应急机械手的主从双边控制系统研究

Research on the Master-Slave Bilateral Control System Based on Nuclear Emergency Manipulator

针对核应急机械手在非结构化环境作业过程中,从端机械手存在自适应能力差的问题,提出了一种可优化的自适应双边控制结构。该控制结构是以主端阻抗控制为外环,以从端模糊PD控制为内环的双闭环控制结构。采用PHANTOM设备与MATLAB搭建了双边控制系统,并在该控制系统结构下完成了联合仿真试验。根据从端机械手末端跟踪轨迹的特性,采用模糊控制器对从端控制参数进行优化处理,以提高系统自适应能力。对从端控制器参数优化前与优化后的跟踪轨迹进行试验对比。优化后的主、从端跟踪轨迹的误差明显减小。从端跟踪轨迹较优化前表现较为平滑,克服了跟踪不足问题,能够实现稳定的双边跟踪控制,从端的自适应性能也得以提升。试验结果表明,该控制系统能够实现优化跟踪,自适应性能良好,为同类型控制系统提供了理论参考。

In non-structural environment operational process,the adaptive capability of the nuclear emergency manipulator is poor; aiming at this problem,an adaptive bilateral control structure which can be optimized is put forward. It is a double closed-loop control structure,with master end impedance control as the outer loop and slave end fuzzy PD control as the inner loop. The bilateral system is built with PHANTOM equipment and MATLAB,and the joint simulation experiment is completed in this control structure. According to the characteristics of the tracking trajectory in the slave end,the control parameters of slave end are optimized by fuzzy controller to improve the adaptive capacity of system. The tracking trajectory before and after the parameters of slave end controller being optimized is experimentally compared. After optimization,the tracking trajectory error between master and slave is reduced. The track trajectory is smoother than that of before optimization and insufficient tracking is overcome,so stable bilateral tracking control can be achieved,the adaptive performance of slave end is improved. The results show that the control system can achieve optimal tracking and has good adaptive performance,which provides theoretical support for the same type of control systems.