{"title":"保证瞬态性能的串联弹性致动器ℒ1 自适应谐振比控制。","authors":"","doi":"10.1016/j.isatra.2024.08.018","DOIUrl":null,"url":null,"abstract":"<div><div>Series elastic actuator (SEA) technology is promising for the development of compliant robotic joints. Despite advancements in the realization of precise tracking, challenges persist in controlling the vibration and transient performance. This study enhanced the resonance ratio control (RRC) algorithm by integrating it with the L1 adaptive control (L1AC) method to address overshoot, static error, and vibration in SEA position control. Initially, the resonance between the motor and link sides caused by the elastic transmission structure was analyzed, which can result in overshoots and vibrations that affect the transient performance of the SEA control. Subsequently, a control scheme based on L1AC was introduced to enhance the performance. The stability of the proposed algorithm was demonstrated through a comprehensive exploration of key control parameters. Furthermore, the algorithm was augmented with gravity compensation, effectively reducing the predicted and reference errors. Consequently, the transient performance was improved. The efficacy of this enhanced algorithm was validated through simulations and experimental platforms, and comparisons with the RRC and model reference adaptive control algorithms. In all the experiments, the overshoot did not exceed 1.1%, the maximum jitter amplitude on the link side was within 0.2° , and a larger time constant in the controller could effectively eliminate the overshoot and vibration with a small response time delay. Furthermore, the algorithm exhibited a protective response during link side collisions by moderating link velocity and limiting motor current, to safeguard the contact environment, humans, and the SEA itself, which take advantage of the L1AC’s low-pass filter (LPF) properties in disturbance handling.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3000,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"ℒ1adaptive resonance ratio control for series elastic actuator with guaranteed transient performance\",\"authors\":\"\",\"doi\":\"10.1016/j.isatra.2024.08.018\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>Series elastic actuator (SEA) technology is promising for the development of compliant robotic joints. Despite advancements in the realization of precise tracking, challenges persist in controlling the vibration and transient performance. This study enhanced the resonance ratio control (RRC) algorithm by integrating it with the L1 adaptive control (L1AC) method to address overshoot, static error, and vibration in SEA position control. Initially, the resonance between the motor and link sides caused by the elastic transmission structure was analyzed, which can result in overshoots and vibrations that affect the transient performance of the SEA control. Subsequently, a control scheme based on L1AC was introduced to enhance the performance. The stability of the proposed algorithm was demonstrated through a comprehensive exploration of key control parameters. Furthermore, the algorithm was augmented with gravity compensation, effectively reducing the predicted and reference errors. Consequently, the transient performance was improved. The efficacy of this enhanced algorithm was validated through simulations and experimental platforms, and comparisons with the RRC and model reference adaptive control algorithms. In all the experiments, the overshoot did not exceed 1.1%, the maximum jitter amplitude on the link side was within 0.2° , and a larger time constant in the controller could effectively eliminate the overshoot and vibration with a small response time delay. Furthermore, the algorithm exhibited a protective response during link side collisions by moderating link velocity and limiting motor current, to safeguard the contact environment, humans, and the SEA itself, which take advantage of the L1AC’s low-pass filter (LPF) properties in disturbance handling.</div></div>\",\"PeriodicalId\":14660,\"journal\":{\"name\":\"ISA transactions\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":6.3000,\"publicationDate\":\"2024-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ISA transactions\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0019057824003999\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISA transactions","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0019057824003999","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
ℒ1adaptive resonance ratio control for series elastic actuator with guaranteed transient performance
Series elastic actuator (SEA) technology is promising for the development of compliant robotic joints. Despite advancements in the realization of precise tracking, challenges persist in controlling the vibration and transient performance. This study enhanced the resonance ratio control (RRC) algorithm by integrating it with the L1 adaptive control (L1AC) method to address overshoot, static error, and vibration in SEA position control. Initially, the resonance between the motor and link sides caused by the elastic transmission structure was analyzed, which can result in overshoots and vibrations that affect the transient performance of the SEA control. Subsequently, a control scheme based on L1AC was introduced to enhance the performance. The stability of the proposed algorithm was demonstrated through a comprehensive exploration of key control parameters. Furthermore, the algorithm was augmented with gravity compensation, effectively reducing the predicted and reference errors. Consequently, the transient performance was improved. The efficacy of this enhanced algorithm was validated through simulations and experimental platforms, and comparisons with the RRC and model reference adaptive control algorithms. In all the experiments, the overshoot did not exceed 1.1%, the maximum jitter amplitude on the link side was within 0.2° , and a larger time constant in the controller could effectively eliminate the overshoot and vibration with a small response time delay. Furthermore, the algorithm exhibited a protective response during link side collisions by moderating link velocity and limiting motor current, to safeguard the contact environment, humans, and the SEA itself, which take advantage of the L1AC’s low-pass filter (LPF) properties in disturbance handling.
期刊介绍:
ISA Transactions serves as a platform for showcasing advancements in measurement and automation, catering to both industrial practitioners and applied researchers. It covers a wide array of topics within measurement, including sensors, signal processing, data analysis, and fault detection, supported by techniques such as artificial intelligence and communication systems. Automation topics encompass control strategies, modelling, system reliability, and maintenance, alongside optimization and human-machine interaction. The journal targets research and development professionals in control systems, process instrumentation, and automation from academia and industry.