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新型力反馈双向伺服系统干扰观测器PID控制算法的研究

Research of disturbance observer PID control algorithm based on novel force feedback bilateral servo system

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【Author】 WEN Guang~(1,2),ZHANG Fu~(3),ZHAO Ding-xuan~(1),YAO Bi-qiang~(2),ZHANG Jing-dong~(2),LI Ze-rong~(2)(1.School of Machinery and Engineering,Jilin University,Changchun 130025,P.R.China;2.School of Machinery and Engineering,Pan-zhihua University,Pan-zhihua 617000,P.R.China;3.Chongqing University of Posts and Telecommunications,Chongqing 400065,P.R.China)

【机构】吉林大学机械科学与工程学院；重庆邮电学院；攀枝花学院机电工程学院；攀枝花学院机电工程学院吉林长春130025；四川攀枝花617000；重庆400065；吉林长春130025；

【摘要】针对目前力反馈双向伺服遥操作工程机器人控制系统所存在的反馈力冲击过大及主从位移控制的随动性较差等问题,提出了在新型力反馈伺服系统中加入干扰观测器来改善从动机构的动态特性差异,从而提高从动机构的鲁棒稳定性和抗干扰能力。仿真结果表明提出的方法是有效的。更多还原

【Abstract】 The force feedback technology is a new kind of tele-operated robot,and it’s of broad practical foreground to study in this aspect.In this paper,a novel force sense control system is presented because of the impact feedback force and the poor master slave following dynamic characteristic of bilateral electro-hydraulic servo system.A novel force feedback servo system is proposed which is added to the disturbance observer to improve the driven gear and the dynamic characteristic difference,thus enhance the driven gear,the stability and the anti-jamming ability.The simulation result shows the proposed method is effective.更多还原

【关键词】双向伺服控制系统；干扰观测器；鲁棒稳定性；抗干扰能力；
【Key words】 bilateral servo control system； disturbance observer； robust stability； anti-jamming ability；

【基金】国家自然科学基金资助项目(50475011);教育部优秀青年教师资助计划项目

【文献出处】重庆邮电学院学报(自然科学版) ,Journal of Chongqing University of Posts and Telecommunications(Natural Science) , 编辑部邮箱 ,2006年02期

【分类号】TM571.6
【被引频次】4
【下载频次】369

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