核电站水池焊接机器人自适应变刚度柔顺控制

doi:10.16180/j.cnki.issn1007-7820.2025.05.009

电子科技 ›› 2025, Vol. 38 ›› Issue (5): 60-67.doi: 10.16180/j.cnki.issn1007-7820.2025.05.009

核电站水池焊接机器人自适应变刚度柔顺控制

袁鹏达¹, 回楠木²(), 韩晓微², 吴宝举²

1.沈阳大学信息工程学院,辽宁沈阳 110044
2.沈阳大学科技创新研究院,辽宁沈阳 110044

收稿日期:2023-11-06 修回日期:2023-12-01 出版日期:2025-05-15 发布日期:2025-05-14
通讯作者: 回楠木 E-mail:2727522138@qq.com
作者简介:袁鹏达(1998-),男,硕士研究生。研究方向:智能检测与自动化装置。
基金资助:
辽宁省应用基础研究计划(2023JH2/101300205);沈阳市科学技术计划(23-407-3-33)

Research on Adaptive Variable Sstiffness Compliance Control of Nuclear Power Plant Pool Welding Robot

YUAN Pengda¹, HUI Nanmu²(), HAN Xiaowei², WU Baoju²

1. School of Information Engineering,Shenyang University,Shenyang 110044,China
2. Institute of Innovation Science and Technology,Shenyang University,Shenyang 110044,China

Received:2023-11-06 Revised:2023-12-01 Online:2025-05-15 Published:2025-05-14
Contact: HUI Nanmu E-mail:2727522138@qq.com
Supported by:
Liaoning Provincial Science and Technology Plan(2023JH2/101300205);Shenyang Science and Technology Plan(23-407-3-33)

摘要/Abstract

摘要：

针对核电站水池焊接过程中的复杂工作环境和高精度焊接要求,文中采用梯度下降法逐步更新参数估计器的参数,实现参数的自适应调整,提高自适应控制的性能和鲁棒性。将模型参考自适应控制和变刚度阻抗控制相结合,提出了一种基于梯度下降法的模型参考自适应变刚度阻抗控制方法 (Model Reference Adaptive Control-Variable Stiffness Impedance Control, MRAC-VSIC),用于实现自适应柔顺控制器中的刚度参数调整。利用Lyapunov稳定性理论对MRAC-VSIC方法进行闭环稳定性分析,证明了其闭环系统的稳定性。仿真结果表明,所提方法提高了机器人的动态响应能力和控制系统的鲁棒性,减少了稳态力误差的产生,提高了焊接过程中的控制精度和稳定性。

关键词: 核电水池, 水下焊接机器人, 阻抗控制, 模型参考自适应, 梯度下降法, 参数估计器, 末端执行器, 力跟踪

Abstract:

In view of the requirements of complex working environment and high precision welding in pool welding process of nuclear power plant, gradient descent method is used to update parameters of parameter estimator step by step, so as to realize the adaptive adjustment of parameters, and improve the performance and robustness of adaptive control. A MRAC-VSIC(Model Reference Adaptive Control-Variable Stiffness Impedance Control) based on gradient descent method is proposed by combining model reference adaptive control with variable stiffness impedance control. It is used to adjust the stiffness parameters in the adaptive compliance controller. The closed-loop stability of MRAC-VSIC method is analyzed by using Lyapunov stability theory, and the stability of the closed-loop system is proved. The simulation results show that the proposed method can improve the dynamic response ability of the robot and the robustness of the control system, reduce the steady-state force error, and effectively improve the control precision and stability in the welding process.

Key words: nuclear power pools, underwater welding robot, impedance control, model reference adaptation, gradient descent method, parameter estimator, end effector, force tracking

中图分类号:

TP241

袁鹏达, 回楠木, 韩晓微, 吴宝举. 核电站水池焊接机器人自适应变刚度柔顺控制[J]. 电子科技, 2025, 38(5): 60-67.

YUAN Pengda, HUI Nanmu, HAN Xiaowei, WU Baoju. Research on Adaptive Variable Sstiffness Compliance Control of Nuclear Power Plant Pool Welding Robot[J]. Electronic Science and Technology, 2025, 38(5): 60-67.

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核电站水池焊接机器人自适应变刚度柔顺控制

Research on Adaptive Variable Sstiffness Compliance Control of Nuclear Power Plant Pool Welding Robot

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