novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.19.542-551novtexmech-502Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSРегулирование тока и силомоментное управление в приводах захватных устройств роботовCurrent Control and Force Control in the Drives of Robot GrippersСеребренныйВ. В.SerebrennyjV. V.

канд. техн. наук, зав. кафедры

vsereb@bmstu.ruБошляковА. А.BoshlyakovA. A.

канд. техн. наук, доц.

Associate Professor, Deputy Department Chair

boshlyakov@bmstu.ruОгородникА. И.OgorodnikA. I.

аспирант

alexander.ogorodnik@bmstu.ruМосковский государственный технический университет имени Н. Э. БауманаРоссияBauman Moscow State Technical UniversityRussian Federation201810102018198542551Copyright © Commercial Publisher «New Technologies», 20182018Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/502

В настоящее время актуальна задача совершенствования очувствленных захватных устройств роботов и их силомоментных алгоритмов управления благодаря развитию таких областей робототехники, как медицинская и реабилитационная робототехника, протезирование, коллаборативная робототехника и других областей, где стоит задача ограничения или минимизации нагрузок, действующих на объект манипулирования. Силомоментное управление в электроприводных очувствленных захватных устройствах в конечном счете обеспечивается посредством регулирования тока. Поэтому целью данной статьи является анализ работы различных регуляторов тока в контексте их применения в очувствленных захватных устройствах и манипуляторах с силомоментным управлением. В рамках статьи рассмотрены пропорционально-интегральный, адаптивный, релейный и релейный с подстройкой ширины гистерезиса регуляторы тока. Из перечисленных регуляторов перспективным регулятором тока для силомоментного управления является гистерезисный регулятор с подстройкой ширины петли гистерезиса, поскольку он обеспечивает стабилизацию частоты переключений и уменьшение пульсаций тока в импульсном усилителе мощности двигателя при сохранении высокого быстродействия и достаточной робастности. Для релейного регулятора с подстройкой ширины гистерезиса предложены редуцированная и линеаризованная математические модели контура подстройки. На основе линеаризованной модели построена методика синтеза контура подстройки, предполагающая использование стандартного частотного синтеза систем управления с обратной связью и позволяющая распространить на контур подстройки такие параметры качества, как запасы устойчивости, время переходного процесса, частоту среза. На основе синтезированных регуляторов тока проведен анализ силомоментного управления двупалым захватным устройством, учитывающий такие показатели, как точность обеспечения заданного момента, стабильность частоты переключений и пульсации тока в усилителе мощности. Результаты сравнения регуляторов могут быть использованы для рационального выбора регулятора тока, обеспечивающего моментное управление, а предложенная методика синтеза релейного регулятора с подстройкой частоты обеспечивает построение регулятора с заданными параметрами качества управления.

Currently, the task of improving the robot grippers and their force control algorithms is urgent, thanks to the development of such areas of robotics as medical and rehabilitation robotics, prosthetics, collaborative robotics and other areas where there is the task of limiting or minimizing the loads acting on the object of manipulation. The force control in the electrically driven dexterous gripper is ultimately provided by the current control. Therefore, the purpose of this article is to analyze the operation of various current regulators in the context of their application in dexterous gripper and manipulators with a force control. The article considers the following current controllers: proportional-integral, adaptive, hysteretic and hysteretic with adjusting loop. Among these controllers, the hysteresis controller with adjusting loop is promising for the force control gripper and manipulator, since it provides switching frequency stabilization and current ripples reduction in a motor driver while maintaining fast response and sufficient robustness. For the hysteresis current controller with adjusting loop, reduced and linearized mathematical models of the adjusting loop are proposed. Moreover, based on the linearized model, methodic is constructed for the adjusting loop synthesis, which assumes the using of the classical control theory. Based on the synthesized current controllers, the analysis of the two-fingered gripper control system carried out, taking into account such factors as the force control accuracy, switching frequency stability and current ripples in the motor driver. Comparison results of current controllers can be used for the rational choice of a current controller providing force control, and the proposed synthesis methodic of the current controller with adjusting loop can to provide the controller generation with given control quality parameters.

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The authors declare that there are no conflicts of interest present.