Design for Sensorless Force Control of Flexible Robot by Using Resonance Ratio Control Based on Coefficient Diagram Method
Design for Sensorless Force Control of Flexible Robot by Using Resonance Ratio Control Based on Coefficient Diagram Method
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DOI：
10.7305/automatika.54-1.311
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发表时间：
2013-01-01
期刊：
影响因子：
1.9
通讯作者：
Katsura, Seiichiro
中科院分区：
文献类型：
--
作者：
Mitsantisuk, Chowarit;Nandayapa, Manuel;Katsura, Seiichiro
柔性机器人系统一般可建模为由电机和负载通过弹簧连接而成的双质量系统。因此，它的弹性引起系统的共振。采用常规的PID控制器，这种方法在这种情况下不能很好地执行。为了减少振动，已经进行了许多研究。本文介绍了一种新的有效的控制方法--共振比控制，它是保证位置和力控制任务执行过程中的鲁棒性和抑制振荡的一种新方法。在本文中，三个技术提出了改善的谐振比控制的性能。首先，一种新的基于多编码器的干扰观测器（MEDOB）的负载侧的干扰力估计。所提出的观测器是不必要的，以确定标称弹簧系数。其次，应用系数图法（CDM）计算力控制器的新增益。一个新的谐振比增益已被提出为2.0。最后，MEDOB和负载侧扰动观测器（LDOB）被用来识别柔性机器人系统的弹簧系数。该辨识方法简单易行，易于在真实的柔性机器人系统中实现。仿真和实验结果验证了所提辨识方法的有效性。
Generally, the flexible robot system can be modeled as the two-mass system which consists of a motor and load connected by a spring. Thus, its elasticity causes resonance in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control method, the resonance ratio control, has been introduced as a new way to guarantee the robustness and suppress the oscillation during task executions for a position and force control. In this paper, three techniques are proposed for improving the performance of resonance ratio control. Firstly, a new multi encoder based disturbance observer (MEDOB) is shown to estimate the disturbance force on the load side. The proposed observer is not necessary to identify the nominal spring coefficient. Secondly, coefficient diagram method (CDM) has been applied to calculate a new gain of the force controller. A new resonance ratio gain has been presented as 2.0. Finally, the MEDOB and load side disturbance observer (LDOB) are employed to identify a spring coefficient of flexible robot system. By using the proposed identification method, it is simple to identify the spring coefficient and easy to implement in the real flexible robot system. The effectiveness of the proposed identification method is verified by simulation and experimental results.