气动肌肉肘关节的滑模内环导纳控制设计

doi:10.3969/j.issn.1000-1093.2018.06.025

兵工学报 ›› 2018, Vol. 39 ›› Issue (6): 1233-1238.doi: 10.3969/j.issn.1000-1093.2018.06.025

气动肌肉肘关节的滑模内环导纳控制设计

王斌锐，靳明涛，沈国阳，金英连，陈迪剑

（中国计量大学机电工程学院，浙江杭州 310018）

收稿日期:2017-09-28 修回日期:2017-09-28 上线日期:2018-07-29
通讯作者: 陈迪剑（1986—），男，讲师，博士 E-mail:djchen@cjlu.edu.cn
作者简介:王斌锐（1978—），男，教授，硕士生导师。E-mail:wangbrpaper@163.com
基金资助:
国家自然科学基金项目（51575503）；国家重点研发计划项目（2017YFC0804609）

Design of Admittance Control with Sliding Mode for Elbow Joint Actuated by Pneumatic Muscle

WANG Bin-rui, JIN Ming-tao, SHEN Guo-yang, JIN Ying-lian, CHEN Di-jian

（College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, Zhejiang, China）

Received:2017-09-28 Revised:2017-09-28 Online:2018-07-29

摘要/Abstract

摘要： 柔顺控制是共融机器人研究的重点。针对级联式气动肌肉肘关节动力学模型，建立了以滑模位置控制为内环、触力导纳控制为外环的控制结构；设计了带干扰观测器的滑模控制器（SMCDO），证明SMCDO算法的收敛性；将环境等效为弹簧模型，设计了外环导纳控制器，并给出控制律。搭建实物测试平台，分别开展阈值力、力安全阈值测试以及碰撞测试，并分析了刚度系数对修正轨迹和接触力的影响。实验结果表明：关节柔顺性与刚度系数相关；SMCDO内环导纳控制精度优于无干扰观测器的滑模控制器内环导纳控制；所设计的控制算法稳定且有效。

关键词: 共融机器人, 气动肌肉, 肘关节, 滑模控制, 导纳控制, 接触力

Abstract: The compliance control is a research focus of human-robot collaboration. For the dynamic model of the cascaded elbow joint actuated by pneumatic muscle, a control structure is established with sliding mode position control as inner loop and contact force admittance control as outer loop. A sliding mode controller with disturbance observer (SMCDO) is designed, and the convergence of SMCDO control algorithm can be illustrated. An admittance controller is designed as the outer loop and the control law is given by treating the environment as a spring model. A real experimental platform is built to test the threshold force, security threshold force, and collision for the handshaking action, and also analyze the influence of stiffness parameter on the angle modified trajectory and contact force. Experimental results show that the compliance is related to stiffness parameter, and the control accuracy of SMCDO admittance controller is higher than that of the SMC admittance controller without disturbance observer. The proposed control algorithm is stable and effective.Key

Key words: human-robot, pneumaticmuscle, elbowjoint, slidingmodecontrol, admittancecontrol, contactforce

中图分类号:

TP241.3

王斌锐，靳明涛，沈国阳，金英连，陈迪剑. 气动肌肉肘关节的滑模内环导纳控制设计[J]. 兵工学报, 2018, 39(6): 1233-1238.

WANG Bin-rui, JIN Ming-tao, SHEN Guo-yang, JIN Ying-lian, CHEN Di-jian. Design of Admittance Control with Sliding Mode for Elbow Joint Actuated by Pneumatic Muscle[J]. Acta Armamentarii, 2018, 39(6): 1233-1238.

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2018 年6月兵工学报ACTA
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气动肌肉肘关节的滑模内环导纳控制设计

Design of Admittance Control with Sliding Mode for Elbow Joint Actuated by Pneumatic Muscle

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