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由于超声电机复杂的能量转换机制和参数受温度和工作环境影响的非线性变化,使得很难对超声电机进行数学描述。为了使超声电机驱动的多关节机器人有较好的表现性能,根据超声电机的运动特点,提出了一种新颖的速度——位置双闭环反馈控制方式。鉴于该控制方式需要调节的控制参数有18个,为了获得一组具有鲁棒性的控制参数,选用了鲁棒性参数设计法。实践结果表明,所提出的控制方式能够获得机器人的良好运行性能,鲁棒性参数设计对超声电机而言是有效而方便的。
Due to the complicated energy conversion mechanism of ultrasonic motor and the non-linear variation of parameters influenced by temperature and working environment, it is very difficult to describe the ultrasonic motor mathematically. In order to make ultrasonic motor drive multi-joint robot have better performance, according to the motion characteristics of ultrasonic motor, a novel speed-position double closed-loop feedback control is proposed. Since there are 18 control parameters that need to be adjusted in this control method, robust parameter design method is used in order to obtain a set of control parameters with robustness. The practical results show that the proposed control method can obtain the good performance of the robot, and the robust parameter design is effective and convenient for the ultrasonic motor.