To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint m...To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint model of the humanoid robot is established.Then the influence of resonance frequency on the performance of the control system with the robot arm is analyzed.The voltage fluctuation of the drive motor caused by the changes in arm motion is recognized as the disturbance of the current loop.The PR controller has the characteristic of disturbance rejection at a specific frequency.The output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is suppressed.Therefore the output current of the inverter will not be affected by the vibration of the arm at the resonance frequency.Finally,the control system is verified by MATLAB/Simulink simulation.The simulation results demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively,improving the dynamic performance and system stability.展开更多
To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction ...To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.展开更多
基金Supported by the National Key Technology Research and Development Program of China(2018YFC1707104)National Natural Science Foundation of China(62076152)+1 种基金Natural Science Foundation of Shandong Province(ZR2017MF045)Beijing Advanced Innovation Center for Intelligent Robots and Systems。
文摘To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint model of the humanoid robot is established.Then the influence of resonance frequency on the performance of the control system with the robot arm is analyzed.The voltage fluctuation of the drive motor caused by the changes in arm motion is recognized as the disturbance of the current loop.The PR controller has the characteristic of disturbance rejection at a specific frequency.The output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is suppressed.Therefore the output current of the inverter will not be affected by the vibration of the arm at the resonance frequency.Finally,the control system is verified by MATLAB/Simulink simulation.The simulation results demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively,improving the dynamic performance and system stability.
基金Supported by the National Natural Science Foundation of China(61175090,61703249)Shandong Provincial Natural Science Foundation,China(ZR2017MF045)
文摘To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.
