仿人柔性关节耦合建模及变负载振动抑制

doi:10.16183/j.cnki.jsjtu.2021.342

摘要/Abstract

摘要：

针对仿人柔性关节负载突变引起的关节振动问题,提出一种基于状态观测器的转矩补偿控制方法.通过控制电动机输出与扰动力矩等值的转矩增量,使关节力矩快速平衡变化后的负载力矩,缩短弹性元件被动适应负载变化的振荡过程.设计了估计负载扰动转矩和电动机转速的状态观测器,并利用Lyapunov函数证明其收敛性;建立基于比例积分-积分比例(PI-IP)转速调节器的驱动系统控制结构,并将观测器的输出前馈输入到转速调节器中,提高系统抗干扰能力.仿真结果表明,与比例积分微分(PID)控制和关节力反馈比例微分(PD)控制相比,所提方法能够在负载变化后的0.6 s内使电动机转速恢复稳定,并在1 s内实现关节振动抑制,关节转速调节时间分别缩短了约1.8 s和0.9 s,有效提升系统动态调节能力.最后,通过在一体化柔性关节测试平台上的实验,验证了所提方法的有效性.

关键词: 仿人柔性关节, 变负载振动抑制, 力矩补偿控制, 状态观测器

Abstract:

Aimed at the joint vibration problem caused by the load change of humanoid flexible joint, a torque compensation control method based on state observer is proposed. By controlling the motor to output a torque increment equivalent to the disturbance torque, the joint torque can quickly balance the load torque and shorten the oscillation process of the elastic element passively adapting to the load change. A state observer for estimating load disturbance torque and motor speed is designed, whose convergence is proved by the Lyapunov function. The control structure of the drive system based on the proportional integral-intergral proportional (PI-IP) speed regulator is established, and the observer output feedforward link is added to the speed regulator to improve the anti-interference ability of the system. The simulation results show that compared with proportional integral differential (PID) control and joint force feedback proportional differential (PD) control, the proposed method can restore the motor speed to stability within 0.6 s after load change and realize joint vibration suppression within 1 s. Besides, the joint speed adjustment time is shortened by about 1.8 s and 0.9 s respectively, which effectively improves the dynamic adjustment ability of the system. Finally, the effectiveness of the proposed method was verified by experiments on an integrated flexible joint testing platform.

Key words: humanoid flexible joint, vibration suppression, torque compensation control, state observer

中图分类号:

TP273

宋传明, 杜钦君, 李存贺, 罗永刚. 仿人柔性关节耦合建模及变负载振动抑制[J]. 上海交通大学学报, 2023, 57(5): 601-612.

SONG Chuanming, DU Qinjun, LI Cunhe, LUO Yonggang. Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load[J]. Journal of Shanghai Jiao Tong University, 2023, 57(5): 601-612.

图/表 14

图1

表1

广义坐标定义

广义坐标与广义力标识	电磁部分				机械传动部分
	定子			转子	电机转角 j=4	手臂转角 j=5
	j=1	j=2	j=3	转子	电机转角 j=4	手臂转角 j=5
A_j	q_a	q_b	q_c	ψ_r	θ₁	θ
$A · j$	i_a	i_b	i_c	—	$θ · 1$	$θ ·$
$Q j A$	F₁	F₂	F₃	—	F₄	F₅

表1

图2

图3

图4

图5

表2

图6

图7

图8

图9

图10

图11

图12

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参数	设定值
驱动电机额定电压/V	12
驱动电机额定转速/(r·min^-1)	1200
电枢绕组等效电感/mH	1.4
电枢绕组等效电阻/Ω	24
转子转动惯量/(kg·m²)	0.062
手臂转动惯量/(kg·m²)	0.45
电机电磁阻尼系数/(N·m·s·rad^-1)	0.2
关节机械阻尼系数/(N·m·s·rad^-1)	0.5
关节刚度系数/(N·m·rad^-1)	10
减速器减速比	100∶1