Autonomous Decentralized Control of a Mechatronics System Composed of Intelligent Actuators

作为分布式自主机电一体化系统的基础性研究，本文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。目标系统是一台自立式类履带式机床，它包括多个铰链式子系统，每个子系统由直流电机驱动，并由微处理器控制。该系统的任务是只有通过对每个子系统的自主分散控制才能在地板上滚动。在得到整个目标系统的精确数学模型后，研究人员开发了一个使用三维动画的模拟系统。并构建了由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。用遗传编程的方法对扭矩发生律进行了仿真，得到了一种关于各种状态变量的函数树。结果表明，…的每个子项都有足够的信息更多地产生扭矩基准的是接地状态、相对角度和子系统本身的相对角速度。然后，将扭矩产生规律重新表示为关于这三个状态变量的数值映射，并利用遗传算法进行仿真分步优化。根据实验结果，次优的力矩产生律完成了滚动任务，并表现出与仿真中相似的特性，但它对力矩扰动似乎比预期的更敏感，因此，研究了另一种方案，每个子系统由一个2自由度鲁棒相对角度控制器控制。然后通过扰动观测器和响应模型调整各子系统对外部力矩的响应。在该控制方案中，通过对每个子系统的相对角度施加适当大小的阶梯形参考，验证了整个系统能够平稳地滚动。此外，即使增加或减少子系统的数量，或者在一个子系统根本不能产生力矩的情况下，相同的控制律也能很好地工作。较少

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