|
|
|
| Robust control of inspection robot joint motor based on Kharitonov theory |
| Shao Yue |
| School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870 |
|
|
|
|
Abstract The mathematical model of inspection robot joint motor PID closed loop control system is established. For complex operating environment as well as some of the factors robot will produce some perturbation model parameters, conventional PID control poor effective. Inspection robot joint motor Robust PID control method is proposed based on kharitonov theory. Finally, do simulation research on robot joint motor PID control system in Matlab environment based on kharitonov theory. The results show that the conventional PID has better control effect only to nominal model, but ineffective to parameters perturbed system, while robust PID has good control effect to parameters perturbed system and compared with robust PID based on H∞ theory has better control effect which meet the inspection robot design requirements.
|
|
Received: 17 October 2017
Published: 18 April 2018
|
|
|
|
[1] 张运楚, 梁自泽, 谭民. 架空输电线路巡检机器人的研究综述[J]. 机器人, 2004, 26(5): 467-473.
[2] 张文辉, 齐乃明, 尹洪亮. 基于滑模变结构的空间机器人神经网络跟踪控制[J]. 控制理论与应用, 2011(9): 1141-1144.
[3] 高健, 黄心汉, 彭刚, 等. 移动机器人PID运动控制器参数的模糊自整定[J]. 华中科技大学学报(自然科学版), 2004, 10(S1): 48-51.
[4] 王洪斌, 李铁龙, 郭继丽, 等. 机器人的神经网络鲁棒轨迹跟踪控制[J]. 电机与控制学报, 2005, 9(2): 145-147.
[5] 李琳, 任俊霖, 邹焱飚, 等. 基于免疫遗传算法的移动机器人轨迹跟踪[J]. 华南理工大学学报(自然科学版), 2013, 41(7): 13-18.
[6] Tsocano R. Robust synthesis of a PID controller by uncertain multimodel information sciences, 2007, 117(6): 1441-1415.
[7] Huang Y J, Wang Y J.Robust PID tuning strategy for uncertain plants based on the Kharitonov theory[J]. ISATransactions, 2000, 39: 419-431.
[8] 彭瑞, 岳继光. 基于区间分析的参数不确定系统PID鲁棒控制器设计[J]. 电机与控制学报, 2006, 10(4): 411-414.
[9] 徐峰, 李东海, 薛亚丽, 等. 基于区间多项式稳定性理论的PID控制器[J]. 清华大学学报(自然科学版), 2003, 43(12): 1642-1645.
[10] Ho M T.Synthesis of H∞ PID Controllers: AParametric Approach. Automatica, 2003, 39: 1069-1075.
[11] 吕永健, 解亮, 王海波. 基于H∞ 控制的无刷直流电机鲁棒控制器[J]. 微电机, 2011, 44(1): 55-57.
[12] 恒庆海, 鲁婧, 李丽. 无刷直流电机H∞ 鲁棒PI控制[J]. 中南大学学报(自然科学版), 2013, 44(S1): 87-91.
[13] Wang Peng, Liu Feng, Mei Shengwei, et al.transmission lines inspection robot[A]. Proceedings of the 29th Chinese Control Conference July 29-31, 2010, Beijing, China, 2010.
[14] 王鹏, 刘锋, 梅生伟, 等. 高压输电线巡线机器人控制体系构建及动作控制器设计[J]. 清华大学学报(自然科学版), 2011, 51(7): 921-927.
[15] 赵浩泉, 封锡盛, 刘开周. 基于混合灵敏度的水下机器人鲁棒控制研究[J]. 仪器仪表学报, 2007, 28(8): 606-609.
[16] Liu Kaizhou, Guo Wei, Wang Xiaohui, et al. Research on the Structure Singular Value Robust Control of Underwater Vehicle[A]. Proceedings of the 8th World Congress on Intelligent Control and Automation, July 6-92010, Ji'nan, China. |
|
|
|
2018, Vol. 19 
