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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Observer-corrector control design for robots with destabilizing unmodeled dynamics
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Observer-corrector control design for robots with destabilizing unmodeled dynamics

机译：具有不稳定的未建模动力学的机器人观测器-校正器控制设计

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摘要

Industrial robotic manipulators and other mechatronic systems often possess undesirable higher order dynamics exhibited in the form of resonance conditions which affect closed-loop stability when feedback control is applied. In this study, an alternative reduced-complexity control design strategy is presented. The fundamental idea of the proposed approach is to synthesize a substitute feedback signal which reflects the dominant dynamics essential for operation of the system subject to control but does not include the undesirable higher order dynamic effects. A unique arrangement of a band-limited state observer and a low-pass filter corrector is employed for this purpose, providing a mechanism to extract the dominant dynamics from the output of the system with minimal amplitude and phase distortion. The resulting synthetic signal is used as a controller input, effectively eliminating destabilizing effects of the undesirable higher order dynamics. As a result, the controller can be designed practically without taking the higher order dynamic effects into account, which allows for use of conventional control techniques, and translates into reduced modeling requirements, simplified controller design and shorter development time when compared to a complete dynamic analysis. The effectiveness of the proposed concept is demonstrated experimentally on motion control of a four-axis direct-drive robotic manipulator for automated pick-place operations in semiconductor manufacturing applications. It is concluded that the proposed control design strategy provides improved control performance, increased stability margin, and added robustness against variations in system parameters in comparison to common methods adopted currently in the engineering practice.
机译：工业机器人操纵器和其他机电系统通常具有共振条件形式的不良高阶动力学，当应用反馈控制时，共振条件会影响闭环稳定性。在这项研究中，提出了另一种降低复杂性的控制设计策略。所提出的方法的基本思想是合成一个替代反馈信号，该信号反映了受控制系统运行所必需的主要动​​力学特性，但不包括不良的高阶动态效果。为此，采用了带限状态观察器和低通滤波器校正器的独特布置，提供了一种以最小的幅度和相位失真从系统输出中提取主要动态的机制。所得的合成信号用作控制器输入，有效消除了不期望的高阶动力学的不稳定影响。结果，可以在不考虑较高阶动态影响的情况下实际设计控制器，这允许使用常规控制技术，并且与完整的动态分析相比，可以减少建模需求，简化控制器设计并缩短开发时间。在半导体制造应用中用于自动拾取放置操作的四轴直接驱动机器人操纵器的运动控制上，通过实验证明了所提出概念的有效性。结论是，与目前在工程实践中采用的常用方法相比，所提出的控制设计策略提供了改进的控制性能，增加的稳定性裕度，并增加了对系统参数变化的鲁棒性。

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