Controller Design Method for Robustness Improvement of Power-Assist Control
Controller Design Method for Robustness Improvement of Power-Assist Control
复制标题
提高助力控制鲁棒性的控制器设计方法
DOI：
10.1299/kikaic.70.419
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
S. Hara
中科院分区：
文献类型：
--
作者：
S. Hara
助力系统技术及其在制造系统、建筑系统、康复和福利服务中的应用最近引起了人们的特别关注。例如，存在利用动力辅助系统的汽车装配过程。然而，库仑摩擦等不确定因素对助力系统的影响尚未得到充分解决。本研究提出了一种用于提高助力控制鲁棒性的控制器设计方法。特别是，我们关注不确定的库仑摩擦力的影响，设计了由两部分组成的伺服控制系统。第一部分是在线阻抗控制模拟器，用作参考发生器。另一种是滑模控制器，用于抑制参考值和相应响应之间的误差。将该方法应用于小车的定位问题，通过实验验证了该方法的有效性。
Power-assist system technology and its applications to manufacturing systems, constructing systems, rehabilitation and welfare services have attracted special interest recently. For example, automobile assembly processes utilizing power-assist systems exist. However, the effect of such uncertainties as Coulomb friction on the power-assist systems has not been fully addressed. This study proposes a controller design method for the robustness improvement of power-assist control. Especially, we pay attention to the influence of uncertain Coulomb friction and design the servo control system consisting of two parts. The first part is an on-line impedance control simulator which works as the reference generator. The other one is a sliding mode controller to suppress the errors between the references and corresponding responses. By applying the method to the positioning problem of a cart, the effectiveness of the method is verified by experiments.