Autonomous Decentralized Control of a Mechatronics System Composed of Intelligent Actuators

作为分布式自治机电一体化系统的基础性研究，本研究主要研究由智能执行器组成的机电一体化系统的自治分散控制问题。目标系统是自立式履带式机器，其包括多个铰链式子系统，每个子系统由DC电动机驱动并由微处理器控制。该系统的任务是仅通过每个子系统的自主分散控制来在地板上滚动。在推导出整个目标系统的精确数学模型后，研究人员开发了一个采用三维动画的仿真系统。在控制方案上，首先研究了分布式转矩产生规律。采用遗传规划方法对转矩生成规律进行了优化，得到了一种基于不同状态变量的函数树形式的转矩生成规律。结果表明，每个子项目的充分信息， 关于我们 产生转矩基准的参数是子系统自身的接地状态、相对角度和相对角速度。然后，转矩产生的法律被重新制定为这三个状态变量的数值映射和次优化的遗传算法的仿真。根据实验结果，次优转矩产生律完成了滚转任务，其性能与仿真结果基本一致，但对转矩扰动的敏感性比预期的要高，因此，本文研究了另一种方案，其中每个子系统由一个2自由度鲁棒相对角控制器控制。然后通过扰动观测器和响应模型调整各子系统对外转矩的响应。在这种控制方案中，整个系统被证明能够顺利滚动，只有通过应用一个适当的大小的阶梯形参考的相对角度的每个子系统。此外，即使子系统的数量增加或减少，或者在子系统根本不能产生转矩的情况下，相同的控制律也能很好地工作。少

As a fundamental study on distributed autonomous mechatronics systems, this research investigated autonomous decentralized control of a mechatronics system composed of intelligent actuators. The target system is a self-standing Caterpillar-like machine which comprises plural hinge-like subsystems each driven by a DC electric motor and controlled by a microprocessor. The task of the system is to roll across the floor only by autonomous decentralized control of each subsystem. After derived exact mathematical model of the whole target system, the investigators developed a simulation system employing 3-dimensional animation. Also, they constructd an experimental system composed of 8 subsystems.As for the control scheme, distributed torque generating laws were studied at first. A torque generating law constructed as a function tree on various state variables was refined by a genetic programing method on simulations. The result clarified that the sufficient information for each subsustem to … More generate the torque reference are the grounding status, the relative angle and the relative angular velocity of the subsystem itself. Then, the torque generating law was reformulated as a numerical map on these three state variables and sub-optimized by a genetic algorithm on simulations. According to experiments, the sub-optimal torque generating law performs the rolling task and shows almost similar properties to that in the simulation, however it seemed rather sensitive to torque disturbances than expected.Thus, another scheme was studied where each subsystem is controlled by a 2 degree of freedom robust relative angle controller. Then the response of each subsystem to the external torque is adjusted by a disturbance observer and a response model. In this control scheme, the whole system verified to be able to roll smoothly only by applying a proper size of step-shaped reference to the relative angle of each subsystem. Moreover, the same control laws worked well even if the number of subsystem was increased or decreased, or in the situation where a subsystem could not produce torque at all. Less