阻抗控制是一种模拟人类肌肉阻抗特性的控制方法,可以实现更快更精准的机器人运动控制,同时具有较小的接触力和稳定的跟踪精度。
Kd = 10; Bd = 5 ; Md = 2;
1e5/(0.0005*s^2+5*s+1)
5e4/(0.1*s^2+1*s+1)
1e4/(0.1*s^2+1*s+1)
增益较小时容易跟踪性能不足!!!
1e4/(0.5*s^2+1*s+1)
6e4/(0.1*s^2+1*s+1)
6e4/(0.5*s^2+1*s+1)
6e4/(1*s^2+1*s+1)
1e5/(0.5*s^2+1*s+1)
Kp=6,Ki=0.01
4e5/(0.5*s^2+1*s+1)
1 state removed.
Kd = 10; Bd = 50 ; Md = 2;
1e4/(0.5*s^2+1*s+1)
19
Kd = 10; Bd = 50
1e4/(0.5*s^2+1*s+1)
19sin0.5t
20sin0.5t
1e4/(0.1*s^2+1*s+1)
20sin0.5t
21sin0.5t
19.5sint
2e4/(0.5*s^2+1*s+1)
18sin0.5t
18sint
19sin0.5t
高精度下,对于较大接触力冲击容易发生接触不稳定性现象!!!
1.5e4/(0.5*s^2+1*s+1)
18sin0.5t
17.5sint
Kd = 100; Bd = 50
2e4/(0.5*s^2+1*s+1)
19
1.5e4/(0.5*s^2+1*s+1)
18.5sin0.5t
较大冲击后会导致不稳定!!!
17.8sin0.8t
1e4/(0.1*s^2+1*s+1)
Kd = 1000; Bd = 50
1e4/(0.1*s^2+1*s+1)
接下来分析低阻抗下阻尼的影响!!!
以kd=10,100为主,分析bd=5,10,20,50,100,200,300,500,跟踪精度与接触力大小,还有接触时的稳定性。
Kd = 10; Bd = 20
1.5e4/(0.5*s^2+1*s+1)
阻尼太小接触容易引起不稳定性现象!!!
Kd=10;Bd=100
18.5sin0.5t
18.5sin0.8t