气动人工肌肉关节的自抗扰控制

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刘昊, 王涛, 范伟, 赵彤, 王军政. 气动人工肌肉关节的自抗扰控制[J]. 机器人, 2011, 33(4): 461-466,508.. LIU Hao, WANG Tao, FAN Wei, ZHAO Tong, WANG Junzheng. Active Disturbance Rejection Control for the Joint Driven by PMAs. ROBOT, 2011, 33(4): 461-466,508..

摘要气动人工肌肉关节系统是一个强非线性时变自平衡2阶系统，鉴于传统控制方法难以克服控制精度、调节速度和稳定性之间的矛盾，设计了一种2阶自抗扰控制器．采用3阶扩张状态观测器实时估计未建模型部分及外界扰动，对系统进行线性补偿，并利用非线性反馈机制提高控制效率，在保证稳定性的前提下，提高调节速度和控制精度，使得系统的稳态精度小于0.1°，跟踪精度小于0.5°．试验证明，即使在系统模型部分已知或未知的情况下，系统采用自抗扰控制仍然可以使控制效果达到令人满意的程度．

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关键词 ：气动人工肌肉, 动力学模型, 非线性, 自抗扰控制

Abstract：The system of a joint driven by PMAs(pneumatic muscle actuators) is a strong nonlinear time-varying self-balanced second-order system.Traditional control methods are difficult to overcome the conflict between the control accuracy, the regulating speed and the stability.A second-order active disturbance rejection control(ADRC) is designed,in which a third-order ESO(extended states observer) is adopted to estimate the non-modeling part and external disturbance in real time and to make the linear compensation for system.Meanwhile,the control efficiency is improved by a nonlinear feedback. On the premise of ensuring the stability,the adjusting speed and control accuracy is enhanced.The system's steady-state accuracy is less than 0.1°and the tracking accuracy is less than 0.5°.Even in the case of the unknown or partly known system model,the system using ADRC can still achieve a satisfactory control result.

Key words： PMA(pneumatic muscle actuator) dynamic model nonlinear ADRC(active disturbance rejection control)

收稿日期: 2010-10-03 录用日期: 2011-02-23

TP273

基金资助:国家自然科学基金资助项目（50475163）

通讯作者: 刘昊 E-mail: yuxiangkyo@bit.edu.cn

作者简介: 刘昊（1983- ），男，博士生．研究领域：新型驱动器，仿人机器人．
王涛（1971- ），男，博士，讲师，硕士生导师．研究领域：检测技术，运动伺服控制．
范伟（1974- ），男，副研究员．研究领域：基于气动技术的检测技术与自动化装置．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I4/461

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