Motion Planning and Tracking Control of Series Elastic Actuator for Vibration Suppression
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摘要: 针对串联弹性驱动器（Series elastic actuator，SEA）的位置控制问题，本文提出了一种"规划+控制"的策略.首先根据连杆端运动学约束方程，基于数字滤波器对电机位置进行轨迹规划；为了使电机能够准确跟踪期望轨迹，根据电机端的动力学模型设计位置跟踪控制器.理论分析证明了规划的抖动抑制作用和跟踪控制系统的稳定性，随后的实验结果也表明了这种"规划+控制"方法在使连杆到达期望位置的前提下，能够有效地抑制残余抖动.Abstract: A "Plan + Control" strategy is proposed in this paper for position control of series elastic actuator (SEA). Based on the kinematic constraint of the link side in SEA, the trajectory of motor position is planed using digital filter; while in the motor side, a nonlinear state feedback controller is designed for trajectory tracking. Vibration suppression of the trajectory plan with digital filter is presented, and asymptotic convergence of the tracking controller is analytically proven. Experiment results illustrate the effectiveness of the proposed scheme.1) 本文责任编委 侯增广
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图 7 $W(\phi)$的实际幅频响应和滤波前后轨迹
Fig. 7 Real amplitude response of $ W(\phi) $ and motor trajectory (before and after filtering)
图 10 轨迹跟踪实验结果: $ \dot\theta $和$ \theta $
Fig. 10 Experiment result of trajectory tracking: $ \dot\theta $和$ \theta $
表 1 ZVDD整形器的脉冲幅值及其对应的时间
Table 1 Amplitude and time of input shaper ZVDD
脉冲幅值 时间(s) 0 0 0.3125 0.273 0.5 0.546 0.1875 0.819 
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