柔性关节控制:配置与非配置反馈的鲁棒性分析

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583920

D. Alazard, J. Chretien

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引用次数: 10

摘要

讨论了应用于非常柔性关节的比例导数控制器的鲁棒性和性能特性。由于关节内柔度所导致的柔性模态，经典的配位控制在低频和高频下具有正确的相位裕度，从而产生良好的刚性模态动力学，而非配位控制不允许转子模态的正确阻尼。同时分析离散根轨迹和尼古拉斯图可以得到一个相位控制律，该律由输入和输出速度建立导数项。提出了考虑各种实际非线性和测量缺陷的仿真来验证这种改进的控制设计。

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Flexible joint control: Robustness analysis of the collocated and non-collocated feedbacks

The robustness and performance properties of a proportional-derivative controller applied to a very flexible joint are discussed. Because of a flexible mode due to in-joint compliance, the classical collocated control does yield good rigid mode dynamics with a correct phase margin in low and high frequency, and noncollocated control does not allow correct damping of the rotor mode. The simultaneous analysis of discrete root loci and Nicholas plots leads to a phase control law with a derivative term built from both input and output velocities. Simulations taking into account various real nonlinearities and measurement imperfections are proposed to validate this improved control design.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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