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Autonomous Decentralized Control of a Mechatronics System Composed of Intelligent Actuators

智能执行器组成的机电一体化系统的自主分散控制

基本信息

批准号：
05650381
负责人：
MATSUO Yoshiki
金额：
$ 1.41万
依托单位：
Tokyo Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

项目摘要

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

作为分布式自主机电一体化系统的基础研究，本课题研究了由智能执行器组成的机电一体化系统的自主分散控制问题。目标系统是一个独立的类似毛毛虫的机器，由多个铰链状的子系统组成，每个子系统由直流电动机驱动，由微处理器控制。系统的任务是仅通过对每个子系统的自主分散控制在地板上滚动。在推导了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。他们还构建了一个由8个子系统组成的实验系统。在控制方案方面，首先研究了分布式转矩产生规律。利用遗传规划方法对多状态变量上的函数树构造的转矩生成规律进行了细化。结果表明，各子系统的接地状态、相对角度和相对角速度是产生转矩参考的充分信息。然后，将转矩产生规律重新表述为这三个状态变量的数值映射，并在仿真中采用遗传算法进行二次优化。实验结果表明，次优转矩产生律执行滚动任务，其性能与仿真结果基本一致，但对转矩扰动的敏感程度高于预期。因此，研究了另一种方案，其中每个子系统由2自由度鲁棒相对角度控制器控制。然后利用扰动观测器和响应模型调节各子系统对外部转矩的响应。在该控制方案中，通过对各子系统的相对角度施加适当大小的阶跃参考，验证了整个系统能够顺利滚动。此外，即使子系统数量增加或减少，或者子系统根本无法产生转矩的情况下，相同的控制律也能很好地工作。少