面向交互应用的串联弹性驱动器力矩控制方法

王萌; 孙雷; 尹伟; 董帅; 刘景泰

doi:10.16383/j.aas.2017.c160337

面向交互应用的串联弹性驱动器力矩控制方法

doi: 10.16383/j.aas.2017.c160337

王萌^1,2,,
孙雷^1,2, ,,
尹伟^1,2,,
董帅^1,2,,
刘景泰^1,2,

1.
南开大学机器人与信息自动化研究所天津 300350
2.
天津市智能机器人技术重点实验室天津 300350

基金项目:

国家自然科学基金 61573198

详细信息

作者简介:
王萌    南开大学机器人与信息自动化研究所博士生.主要研究方向为SEA力矩控制, 人机交互, 单足跳跃机器人.E-mail:wmkevin@mail.nankai.edu.cn

尹伟    南开大学机器人与信息自动化研究所博士生.主要研究方向为SEA控制.E-mail:blackbirdontree@163.com

董帅    南开大学机器人与信息自动化研究所硕士生.主要研究方向为机器人控制系统.E-mail:dongsh@mail.nankai.edu.cn

刘景泰    博士, 南开大学机器人与信息自动化研究所教授.主要研究方向为机器人学, 机器人控制.E-mail:liujt@nankai.edu.cn

通讯作者:
孙雷博士, 南开大学机器人与信息自动化研究所副教授.主要研究方向为机器人控制系统.本文通信作者.E-mail:sunl@nankai.edu.cn

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出版历程
- 收稿日期: 2016-04-18
- 录用日期: 2016-08-08
- 刊出日期: 2017-08-20

Series Elastic Actuator Torque Control Approach for Interaction Application

WANG Meng^{1,2
,},
SUN Lei^{1,2
, ,},
YIN Wei^{1,2
,},
DONG Shuai^{1,2
,},
LIU Jing-Tai^{1,2
,}

1.
Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300350
2.
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350

Funds:

National Natural Science Foundation of China 61573198

More Information

Author Bio:
   Ph. D. candidate at the Institute of Robotics and Automatic systems, Nankai University. His research interest covers SEA torque control, human-robot interaction, and monopod hopping robot.E-mail:

   Ph. D. candidate at the Institute of Robotics and Automatic systems, Nankai University. His main research interest is SEA control.E-mail:

   Master student at the Institute of Robotics and Automatic systems, Nankai University. His research interest covers robot control systems.E-mail:

   Ph. D., professor at the Institute of Robotics and Automatic systems, Nankai University. His research interest covers robotics, robot control.E-mail:

Corresponding author: SUN Lei Ph. D., associate professor at the Institute of Robotics and Automatic systems, Nankai University. His research interest covers robot control systems. Corresponding author of this paper.E-mail:sunl@nankai.edu.cn

摘要

摘要: 对于串联弹性驱动器（Series elastic actuator，SEA）而言，已有方法大都将其弹性组件视为线性弹簧.然而为了追求更高的能量密度，SEA的机械结构越来越复杂，使其控制问题更具挑战性；此外，现有方法均未考虑当SEA应用于交互系统中，其负载端动力学模型会产生剧烈变化的情况.针对这些问题，本文设计了一种面向交互应用的自适应滑模控制方法.具体而言，首先在考虑了非线性SEA输出特性及系统中可能存在的扰动的情况下，描述了SEA系统的动力学方程，并对其进行了分析和变换.在此基础上设计了负载运动观测器和自适应滑模控制器，使得本文方法能够在负载端动力学模型完全未知的情况下完成SEA的力矩控制.最后通过引入辅助系统，对输入饱和的情况进行了有效的处理.通过理论分析证明了闭环控制系统的稳定性及信号有界性，随后的仿真与实验结果也表明了这种自适应滑模控制器良好的控制性能和对不确定性因素的鲁棒性.
- 串联弹性驱动器 /
- 力矩控制 /
- 人-机交互 /
- 自适应滑模控制
Abstract: For series elastic actuator (SEA) systems, most existing methods treat the mechanical component as a linear spring. However, in order to achieve high energy density, mechanical structures of SEAs are becoming more and more complex, which makes the control problem more challenging. Additionally, currently available approaches cannot guarantee the control performance when the payload dynamics changes drastically during the interaction process. To deal with these problems, an adaptive sliding-mode control method is proposed for interaction applications. Specifically, by taking account of nonlinear SEAs and disturbances, the dynamics of SEA systems is uniformly described and transformed. Then, an observer and adaptive sliding mode controller are designed and they work well even in the presence of unknown payload dynamics. Finally, an auxiliary system is designed to deal with the saturation problem. Stability and boundedness of the closed-loop signal is ensured mathematically. Subsequent experiment results also demonstrate that the designed controller is robust against system uncertainties and can achieve a superior performance for SEA torque control.
- Series elastic actuator (SEA) /
- torque control /
- human-robot interaction /
- adaptive sliding-mode control
注释:

1) 本文责任编委孙希明

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图 1 非线性旋转型SEA

Fig. 1 The nonlinear rotary SEA

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图 2 非线性SEA力矩输出模型验证

Fig. 2 Model verification of the nonlinear SEA

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图 3 单关节SEA交互机器人示意图

Fig. 3 Schematic representation of the single SEA interaction robot system

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图 4 SEA实验平台

Fig. 4 SEA experiment testbed

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图 5 仿真实验1的仿真结果

Fig. 5 Simulation results of Simulation 1

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图 6 仿真实验2的仿真结果

Fig. 6 Simulation results of Simulation 2

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图 7 仿真实验3的仿真结果

Fig. 7 Simulation results of Simulation 3

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图 8 实验1的实验结果

Fig. 8 Experimental results of Experiment 1

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图 9 实验2的实验结果

Fig. 9 Experimental results of Experiment 2

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图 10 实验3的实验结果

Fig. 10 Experimental results of Experiment 3

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表 1 SEA机械参数

Table 1 The mechanical parameters of the SEA

Parameter Value

K_s 13 600 N/m

c 0.018 m

R 0.020 m

r 0.005 m

下载: 导出CSV

表 2 本文控制器的控制参数

Table 2 The parameters of the proposed controller

Parameter Value

l₁, l₂ 10, 50

Γ₁, Γ₂, Γ₃ 20, 20, 10

λ 15

k, k₁ 20, 5

ρ 5

ε 1

下载: 导出CSV

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面向交互应用的串联弹性驱动器力矩控制方法

doi: 10.16383/j.aas.2017.c160337

通讯作者:
孙雷博士, 南开大学机器人与信息自动化研究所副教授.主要研究方向为机器人控制系统.本文通信作者.E-mail:sunl@nankai.edu.cn

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Series Elastic Actuator Torque Control Approach for Interaction Application

Corresponding author: SUN Lei Ph. D., associate professor at the Institute of Robotics and Automatic systems, Nankai University. His research interest covers robot control systems. Corresponding author of this paper.E-mail:sunl@nankai.edu.cn

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目录

Parameter	Value
l₁, l₂	10, 50
Γ₁, Γ₂, Γ₃	20, 20, 10
λ	15
k, k₁	20, 5
ρ	5
ε	1

Parameter	Value
K_s	13 600 N/m
c	0.018 m
R	0.020 m
r	0.005 m

留言板

面向交互应用的串联弹性驱动器力矩控制方法

doi: 10.16383/j.aas.2017.c160337

通讯作者: 孙雷 博士, 南开大学机器人与信息自动化研究所副教授.主要研究方向为机器人控制系统.本文通信作者.E-mail:sunl@nankai.edu.cn

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出版历程

Series Elastic Actuator Torque Control Approach for Interaction Application

Corresponding author: SUN Lei Ph. D., associate professor at the Institute of Robotics and Automatic systems, Nankai University. His research interest covers robot control systems. Corresponding author of this paper.E-mail:sunl@nankai.edu.cn

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出版历程

目录

通讯作者:
孙雷博士, 南开大学机器人与信息自动化研究所副教授.主要研究方向为机器人控制系统.本文通信作者.E-mail:sunl@nankai.edu.cn