基于改进新型无源观测器的机器人系统控制研究

为解决机器人系统控制稳定性问题,在经典无源观测器方法的基础上,采用改进的新型无源观测器,实现对机器人系统的控制.创建机器人的系统结构模型,外加输入力信号作为控制器的计算信号.针对经典无源观测器会发生能量积累的问题,提出改进的新型无源观测器方法.利用两个新的无源性观测器窗口无源性观测器(WPO)和重置无源性观测器(RPO...

Research on Robot System Control Based on Improved Passive Observer

In order to solve the problem of robot system control stability,based on the classical passive observer method,an improved passive observer was adopted to control the robot system.The system structure model of the robot was created,and the input signal force was added as the computational signal of the controller.Aiming at the problem of energy accumulation of classical passive observer,an improved new passive observer method was proposed.By using the window passive observer(WPO)and reset passive observer(RPO),the gain of PID controller was effectively reduced,and the energy consumption was reduced,so the instability of the system was faster detected.In MATLAB,the velocity,position and force feedback tracking of the robot system model in x and y directions were simulated and compared with the classical passive observer method.The results show that the speed of the robot system with the improved passive observer tends to be stable after a short overshoot;the position tracking curve is less jitter and smoother;the maximum feedback is about 33%lower than that of the classical passive observer method.The results show that the improved passive observer can improve the control stability of the robot system.