...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Experimental Validation of a Torque-Controlled Variable Stiffness Actuator Tuned by Gain Scheduling
【24h】

Experimental Validation of a Torque-Controlled Variable Stiffness Actuator Tuned by Gain Scheduling

机译：增益调整的转矩控制可变刚度执行器的实验验证

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A variable stiffness actuator (VSA) is an inherently parameter-dependent system due to the controllable stiffness element. Within the torque-controlled framework, the VSA is distinguished from the classical series elastic actuator (SEA). A frozen torque controller can directly determine the SEA performance with a fixed-stiffness spring selection. However, since the VSA operates at a set of operating points, the aim is to achieve an adaptive control approach. For this, we propose a gain-scheduled torque controller. The control performance is expected to recover robustness when stiffness values are varied from smaller to larger ones. Simultaneously the bandwidth is maximized, taking into account hardware limitations. In this way, a good tradeoff between stability and performance can be achieved. A key step in the gain-scheduled controller design is to implement the linear controllers, where the linear quadratic Gaussian (LQG) technique was applied to deal with the multiloop feedback (a cascade control scheme) in the VSA plant. A lever-arm based VSA [i.e., a mechanical-rotary variable impedance actuator (MeRIA)] was used to verify this new controller design approach by the simulations and experiments. The resulting gain-scheduled controller was also evaluated by taking into account the impedance control testing on a motion-supported platform for the knee joint.
机译：可变刚度执行器（VSA）由于具有可控制的刚度元素，因此是与参数固有相关的系统。在扭矩控制的框架内，VSA与经典的系列弹性执行器（SEA）不同。冻结扭矩控制器可以通过固定刚度的弹簧选择直接确定SEA性能。但是，由于VSA在一组操作点上进行操作，因此目的是实现一种自适应控制方法。为此，我们提出了一种增益预定的转矩控制器。当刚度值从较小值更改为较大值时，预期控制性能将恢复鲁棒性。同时将带宽最大化，同时考虑到硬件限制。这样，可以在稳定性和性能之间取得良好的折衷。增益调度控制器设计的关键步骤是实现线性控制器，其中线性二次高斯（LQG）技术被用于处理VSA工厂中的多环反馈（级联控制方案）。基于杠杆臂的VSA [即机械旋转可变阻抗致动器（MeRIA）]用于通过仿真和实验来验证这种新的控制器设计方法。还通过考虑在膝关节的运动支持平台上进行的阻抗控制测试来评估所得的增益预定控制器。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号