交叉耦合控制器設計與其在直接驅動機械臂之應用

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研究生：	方仁武 RenWu Fang
論文名稱：	交叉耦合控制器設計與其在直接驅動機械臂之應用 Cross-Coupling Controller Design and Its Application to a Direct-Drive Robot
指導教授：	陳建祥 Chen, Jian-Shiang
口試委員:
學位類別：	博士 Doctor
系所名稱：	工學院 - 動力機械工程學系 Department of Power Mechanical Engineering
論文出版年：	2002
畢業學年度：	91
語文別：	英文
論文頁數：	105
中文關鍵詞：	交叉耦合控制、輪廓誤差、直接驅動機械臂、超音波馬達
外文關鍵詞：	Cross-Coupling Control, Contouring Error, Direct-Drive Robot, Ultrasonic Motor
相關次數：	點閱：1 下載：0
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本文提出兩種依據不同設計想法所推導之直接驅動機械臂交叉耦合控制法則以期能有效改善輪廓精確度。對於直接驅動機械臂而言，考量其中存在著無法忽略的模型不確定性與外在干擾，因此本文所提出之交叉耦合控制器其目的乃在希望系統即使面對相當程度的模型不確定性與外在干擾，依舊使其維持良好的輪廓精確度並確保其穩定性。
文中，首先提出一交叉耦合控制器;由於從耦合與未耦合系統輪廓誤差之關係可將交叉耦合控制設計轉換成設計一線性參數時變系統之等效迴授控制，因此採用法則設計一交叉耦合控制器以期在面對時變之交叉耦合增益與系統之參數不確定下能同時達成改善輪廓精確度與內部穩定之目的。

其次，有別於傳統交叉耦合控制器即時計算出輪廓誤差並據此迴授至各軸以降低輪廓誤差之方法，本文提出一以李阿普諾夫方法所推導而得的交叉耦合控制器，此一法則旨在直接協調各軸之運動以降低所追蹤軌跡於法線方向之誤差量，利用李阿普諾夫遞推方法與遞迴補償技巧，此一交叉耦合控制器可用於一般之三維輪廓追蹤以改善當系統存在無法忽略的模型不確定性與外在干擾甚或重力效應下之輪廓精確度。此外，此一多輸入多輸出非線性時變系統之局部穩定亦可同時確保。

為進一步探究各法則之可行性，本文中針對一雙軸水平機械臂與一三軸空間機械臂為實驗對象做驗證。實驗結果顯示了本文所提出之交叉耦合控制法則在不同之輪廓追蹤命令、負載條件及機械臂組態條件下皆能獲得較佳之輪廓精確度。

In this dissertation, two novel cross-coupling control (CCC) schemes derived from different approach are proposed to enhance the contouring accuracy of direct-drive robots (DDR). Considering that DDR abound in model uncertainties and external disturbances, the main purpose of the proposed CCC schemes is to achieve excellent contouring accuracy and guarantee stability simultaneously in the presence of the model uncertainties and external disturbances.
Firstly, a CCC using scheme is proposed; from the relationship between the coupled and uncoupled system, the design of the compensator in the CCC scheme can be transformed onto an equivalent feedback control design problem which has time-varying (TV) parameters in. scheme is adopted to design the cross-coupling (CC) controller to provide excellent contouring accuracy and achieve internal stability even when the CC gains and the model parameters are varying.

Secondly, instead of directly calculating the instantaneous contouring error and feeding it to coordinate axes, a novel Lyapunov-based CCC scheme is proposed to enhance contouring error by reducing the error normal to the contour. Based on Lyapunov backstepping method and the recursive updating technique, the proposed control scheme can enhance the contouring accuracy for three-dimensional contouring in spite of considerable model uncertainties, disturbances, and even gravitational effects. Furthermore, the proposed CCC design, which is a typical MIMO nonlinear TV system, can be verified as locally stable.

Lastly, a two-link and a three-link anthropomorphic ultrasonic motor (USM) serial DDR systems are established to investigate the feasibility. Experimental results validated the efficacy of the proposed CCC schemes and the results showed that the proposed CCC schemes could maintain excellent contouring accuracy under various operating conditions such as contouring commands, payload configurations, and robotic configurations.

Abstract...............................................i
Table of Contents......................................ii

List of Tables.........................................v

List of Figures........................................vi

List of Acronyms.......................................x

Nomenclature...........................................xi

Chapter1 Introduction..................................1

       1.1 Motivations and Objectives..................1

       1.2 Literature Survey...........................3

         1.2.1 The Cross-Coupling Control Scheme.......3

 1.2.2 Control Scheme..........................5

 1.2.3 Direct-Drive Robot......................5

       1.3 Contributions of the Dissertation...........6

       1.4 Organization of the Dissertation............7

Chapter2 The Cross-Coupling Control Scheme.............11

       2.1 Introduction to Cross-Coupling Control......11

       2.2 Cross-Coupling Control of A Two-Link Robotic

           Manipulator.................................12

         2.2.1 Computation of the Contouring Error.....12

         2.2.2 The Cross-Coupling Control Structures...15

       2.3 Problem Statement...........................17

Chapter3 Design of A Cross-Coupling Controller Using

         H-Infinity Scheme.............................20

       3.1 Revisit of Design...........................20

       3.2 Cross-Coupling Control......................22

       3.3 Stability Analysis..........................24

       3.4 Summary.....................................27

Chapter4 Design of A Robust Cross-Coupling Controller

         Based on Lyapunov Theory......................29

       4.1 Introduction................................29

       4.2 Lyapunov-Based Cross-Coupling Control.......30

         4.2.1 Selection of a Lyapunov function........30

         4.2.2 Lyapunov Backstepping Method............31

         4.2.3 Recursive Updating Design...............34

       4.3 Summary.....................................36

Chapter5 Experimental Setup of a USM Direct-Drive

         Robotic System................................37

       5.1 Introduction................................37

       5.2 Basic Principle and Dynamic Characteristics

           of Ultrasonic Motors........................38

         5.2.1 Basic Principle of Ultrasonic Motors....38

         5.2.2 Dynamic Characteristics of Ultrasonic

               Motors..................................39

       5.3 Experimental Setup of the USM Direct-Drive

           Robotic System under Study..................41

       5.4 Identification of the USM Direct-Drive

           Robotic Axes................................44

       5.5 Summary.....................................46

Chapter6 Experimental Validation.......................60

       6.1 Introduction................................60

       6.2 The Cross-Coupling Control Scheme of the

           Two-Link Planar Robotic Manipulator.........60

         6.2.1 The Cross-Coupling Controller Design....60

         6.2.2 Experimental Results and Discussions....62

       6.3 The Lyapunov-Based Cross-Coupling Control

           Scheme of the Two-Link Robotic Manipulator..65

         6.3.1 The Lyapunov-Based Cross-Coupling

               Controller Design.......................65

         6.3.2 Experimental Results and Discussions....67

       6.4 The Lyapunov-Based Cross-Coupling Control

           Scheme of the Multi-Link Robotic Manipulator

           Under Gravity...............................69

 6.4.1 The Lyapunov-Based Cross-Coupling

               Controller Design.......................69

         6.4.2 Experimental Results and Discussions....70

       6.5 Summary.....................................73

Chapter7 Concluding Remarks and Recommendations for

         Future Work...................................91

       7.1 Concluding Remarks..........................91

       7.2 Recommendations for Future Work.............92

Appendix...............................................94

References.............................................97

Vita...................................................104

Publications...........................................105

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