机器人系统摩擦力矩和摩擦模型参数自适应有限时间估计与仿真

doi:10.16180/j.cnki.issn1007-7820.2022.07.012

Abstract

Abstract:

The nonlinear friction torque in the robot system affects the performance of the control system. To address this problem, an adaptive parameter estimation algorithm is proposed to estimate the key parameters of a continuous friction model and realize the friction torque modeling. In order to avoid the use of acceleration signals, the robot system model is reconstructed and an unknown system dynamic estimator is designed to realize the overall estimation of the friction torque. The estimator has a simple structure, only needs to adjust one parameter to realize the estimation of the friction torque, and the estimated convergence speed is fast, which is beneficial to the realization in the actual system. On the basis of obtaining friction torque estimation, a finite-time adaptive parameter estimation algorithm based on parameter estimation error information is constructed according to the Lyapunov method. Under the premise of ensuring the convergence and robustness of the algorithm, the key parameters in the continuous friction model can be identified accurately in finite time.

Key words: robot system, friction model, reconstruction, unknown system dynamic estimator, finite-time, adaptive parameter estimation, parameter estimation error, Lyapunov

CLC Number:

TP242

FANG Yueming,WANG Xian. Adaptive Finite-Time Estimation and Simulation of Friction Torque and Friction Model Parameters of Robot Systems[J].Electronic Science and Technology, 2022, 35(7): 71-78.

Figures/Tables 6

Figure 1.

Table 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

References 28

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参数	描述	数值
l₁/m	杆1的长度	0.250
l₂/m	杆2的长度	0.250
l_q₁/m	杆1质心到关节的距离	0.053
l_q₂/m	杆2质心到关节的距离	0.170
m₁/kg	杆1的质量	9.387
m₂/kg	杆2的质量	1.729
I₁/kg·m²	关节1的转动惯量	0.119 0
I₂/kg·m²	关节2的转动惯量	0.065 2
γ₁	连续摩擦模型的参数	0.25
γ₂	连续摩擦模型的参数	100.00
γ₃	连续摩擦模型的参数	10.00
γ₄	连续摩擦模型的参数	0.10
γ₅	连续摩擦模型的参数	100.00
γ₆	连续摩擦模型的参数	0.01

Adaptive Finite-Time Estimation and Simulation of Friction Torque and Friction Model Parameters of Robot Systems

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