摘要
针对丝杠传动系统从自由空间运动过渡到约束空间力控制过程中,接触不同环境刚度时接触力的动态特性是不同的,并且存在冲击、高频振动甚至不稳定,以及稳态力跟踪阶段的扰动引起的不稳定问题,提出用加速度传感器反馈来增加系统力控制的阻尼,抑制在力控制的接触过渡过程和力维持跟踪过程中因为碰撞和外部扰动等原因产生的高频振动,克服单纯速度反馈控制带宽比较窄的局限性,增加系统的稳定性.建立了基于多传感器的实验平台,进行了接触力控制的实验比较研究,实验结果表明该方法是可行的.
When ball screw transmission system contacts with different environment stiffness, the dynamic characteristics of the contact force are different. In addition, when the end effectors move from free space to constraint space stable force tracking process, there occur impact, vibration and even instability due to external disturb- ance. Acceleration sensor based feedback control method was proposed for contacting force control. By using this method, the damping can be enhanced and the oscillations can be damped out. And the narrow bandwidth weakness of speed feedback was overcome. The experimental setup was built up and the experimental researches were conducted. The experimental results prove the effectiveness of the presented method.
出处
《动力学与控制学报》
2007年第4期370-375,共6页
Journal of Dynamics and Control
基金
国家自然科学基金(60404020)
国家自然科学基金空天飞行器重大研究计划(90505014)
广东省自然科学基金(05006499)资助项目~~
关键词
丝杠传动
接触力控制
加速度反馈
主动阻尼
振动控制
ball screw transmission, contact force control, acceleration feedback, active damping,vibration control
