Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load

被引：0
|
作者：
Song C. [1 ]
Du Q. [1 ]
Li C. [1 ]
Luo Y. [1 ]
机构：
[1] School of Electrical and Electronic Engineering, Shandong University of Technology, Shandong, Zibo
来源：
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2023年 / 57卷 / 05期
关键词：
humanoid flexible joint; state observer; torque compensation control; vibration suppression;
D O I：
10.16183/j.cnki.jsjtu.2021.342
中图分类号：
学科分类号：
摘要：
Aimed at the joint vibration problem caused by the load change of humanoid flexible joint, a torque compensation control method based on state observer is proposed. By controlling the motor to output a torque increment equivalent to the disturbance torque, the joint torque can quickly balance the load torque and shorten the oscillation process of the elastic element passively adapting to the load change. A state observer for estimating load disturbance torque and motor speed is designed, whose convergence is proved by the Lyapunov function. The control structure of the drive system based on the proportional integral-intergral proportional (PI-IP) speed regulator is established, and the observer output feedforward link is added to the speed regulator to improve the anti-interference ability of the system. The simulation results show that compared with proportional integral differential (PID) control and joint force feedback proportional differential (PD) control, the proposed method can restore the motor speed to stability within 0.6 s after load change and realize joint vibration suppression within 1 s. Besides, the joint speed adjustment time is shortened by about 1.8 s and 0.9 s respectively, which effectively improves the dynamic adjustment ability of the system. Finally, the effectiveness of the proposed method was verified by experiments on an integrated flexible joint testing platform. © 2023 Shanghai Jiao Tong University. All rights reserved.
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页码：601 / 612
页数：11
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