Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
iu khin thch nghi Robot cng nghip
Adptive control for Industrial Robot
Phan Xun Minh
Trng i Hc Bch Khoa H Ni
email: minhxp-ac@mail.hut.edu.vn

L Hu Trung
Cao ng ngh C gii Ninh Bnh
email: Auto.depart@gmail.com


Tm tt
Robot l mt i tng phi tuyn, trong thc t mt
s tham s ca robot kh c th xc nh ng, thm
ch mt s tham s cn bin i trong qu trnh lm
vic nh khi lng ti gp tay my, mmen qun
tnh ti, cc thnh phn ma st trong cc khpVi
cc b iu khin kinh in kh t c chnh
xc chuyn ng, c bit khi robot hot ng tc
cao. iu khin thch nghi theo m hnh mu c
kh nng p ng c yu cu ny, c th l iu
khin chuyn ng ca robot bm theo qu o ca
m hnh mu vi cc ch tiu cht lng mong mun.
Bi bo xut thut ton iu khin thch nghi theo
m hnh mu trn c s tuyn tnh ho chnh xc v
minh ha kt qu t c bng m phng trn nn
matlab-simulink cho robot 3 bc t do.
Abstract
Robot is a nonlinear plant, in fact, it is difficult to
identify some parameters of robot truthfully or some
of them change during working, such as load mass,
inertial moment, joints frictionsBy classical
controllers, it is difficult to get the accuracy of Robot
movement, speciality in high speed. the paper
proposed a adaptive control algorithm based on
reference model and exact linearization to solve this
problem. Some simulation results of three degree
freedom robot manipulator are illustrated.

K hiu
K hiu n v ngha
A, B ma trn ca m hnh
f hm phi tuyn
m M hnh mu
1. t vn
Trong thc t, iu khin robot bm chnh xc qu o
t trc l mt bi ton kh v robot l mt i
tng phi tuyn c cc tham s kh xc nh c
chnh xc.
Bi bo trnh by phng php iu khin thch nghi
theo m hnh mu da trn m hnh tuyn tnh ho
chnh xc ca robot. Bng b iu khin tuyn tnh
ho chnh xc kt hp vi b iu khin thch nghi
m bo loi b c cc thnh phn bt nh gy nn
sai lch trong chuyn ng ca robot v m bo h
kn l GAS. Phng php xut c m phng
kim chng bng m hnh robot ba bc t do. Cc kt
qu m phng cho thy kh nng ng dng ca thut
ton iu khin trong thc t.
2. Xy dng thut ton
Theo [4], phng trnh ng lc hc ca c cu robot
c vit di dng tng qut
( ) ( , ) ( ) ( )
d d
D q q V q q G q F q M M + + + + = (1)
Trong :
( ) G q thnh phn mmen trng lc
( ) D q ma trn mmen qun tnh
( , ) V q q lc hng tm v lc nht
( ) F q - vector lc ma st tnh
d
M - vector mmen nhiu gy ra bi m hnh ng
lc hc khng chnh xc
H phng trnh trng thi ng lc hc ca robot
Vector trng thi bc n cho h thng :

1 2
( ) [ , , ..., , ..., ]
T T T T T
i n
x t x x x x =
Trong :

1 2
[ , ] [ , ]
T T
i i i i i
x x x q q = =
- l vector trng thi ca thanh i
Vector u vo bc n:

1 2 1 2
[ , ,..., ] [ , ,..., ]
T T
n n
u u u u M M M = =
Phng trnh trng thi m t robot nh sau:

( ) ( )( )
d
q
d x d
f x H x M M
q dt dt
| |
= = + |
|
\ .
(2)
Trong :

1
( )
( )[-V( , ) ( ) ( )]
d
q
f x
D q q q G q F q

| |
= |
|

\ .


2
( )
n
f x R e
196
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

2
1
( )
( )
n n
H x R
D q

O | |
= e
|
|
\ .
,
n n
R

Oe
H (2) c dng h phng trnh vi phn bc nht
affine c thnh phn nhiu.
Tuyn tnh ha chnh xc m hnh robot
Trong m hnh robot (2) cc u ra chnh l cc bin
trng thi q :
1 1 1
( )
( )
( )
n n n
g x q x
y g x
g x q x
| | | | | |
| | |
= = = =
| | |
| | |
\ . \ . \ .
(3)
Cc thnh phn trong (2) c dng ( 1, i n = ):
1 2
( ) ( ( ), ( ),..., ( ))
n
H x h x h x h x =
2
1
( ) (0 0 ( ) ( ))
T n
i i in
h x h x h x R = e
1 2 2 1 2
( ) ( ( ) ( ) ( ))
T
n n n n
f x x x x a x a x a x
+ +
=
Vi , 1, i j n = ta c:
1
( )
0 0 0 1 0 0 (0 0 ( ) ( )) 0
i i
h j h j
T
i in
j
L g x L x
h x h x
= =
| |
=
|
\ .

( ) ( ) 0
j
hi f j hi hi n j
x
L L g x L f L x
x
+
c | |
= = =
|
c
\ .

1 1
2
i i
i
k r
r
= =
=

Ngoi ra ch :

2
1
( )
( )
n n
H x R
D q

O | |
= e
|
|
\ .

Th:
1 2
1 2
1 2
1 1 1
2 2 2
1
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( ) ( )
n
n
n
h f h f h f
h f h f h f
h f n h f n h f n
L L g x L L g x L L g x
L L g x L L g x L L g x
L x D x
L L g x L L g x L L g x

| |
|
|
= =
|
|
|
\ .

L ma trn khng suy bin. Vy theo nh ngha th
h (2) c vector bc tng i ti thiu (
1 2
, ,...,
n
r r r )
tha mn 2, 1,
i
r i n > = . Mt khc, do tnh cht
1
2
n
k
k
r r n
=
= s

nn phi c 2, 1,
i
r i n = = .
Nh vy, bc tng i ca h (2) vi cc tn hiu ra
(3) tha mn iu kin :

1 2
... 2
n
r r r r n = + + + =
Nn ta c th hon ton p dng thut ton tuyn tnh
ha chnh xc.
Cc bc thit k :
Mc ch ca phng php ny l lm cho h thng
n nh tim cn ton cc khng ph thuc vo s tc
ng ca bt k mt vector nhiu
( ) d t
no.











Cu trc iu khin thch nghi hnh 1 nhm m
bo chuyn ng ca robot bm theo m hnh mu.
Bc 1: tuyn tnh ha chnh xc
Thc hin tuyn tnh ha chnh xc h (2) bng b
iu khin phn hi trng thi
,
( , w ) u x v php bin
i vi phi ( ) z m x = trong A, B l cc ma trn
hng v A l ma trn bn (c gi tr ring nm bn tri
trc o).
i tng (2) s c chuyn v dng:
[w + ( )d]
d z
Az B x
dt
| = + (4)
Trong : ( ) = (x) ( ) x L x | |
Bc 2: iu khin thch nghi theo m hnh mu
Sau khi thc hin tuyn tnh ha chnh xc, h (2)
thnh h (4) c ma trn A bn, tip theo chng ta phi
loi b tc ng nhiu theo phng php iu khin
theo m hnh mu.
S dng m hnh mu c dng:

,
w
m
m
d z
Az B
dt
= + (5)
Trong :
,
w w =
v
( ) x p | =
l tn hiu b,
p
l tn hiu chnh nh.
Do nhiu d khng th o c mt cch chnh xc
nn gia (2) v m hnh mu lun tn ti mt sai lch
,
w
u
w

m
z
x z
e
B iu
khin
,
( , w ) u x

i
tng
(2)
Php i
bin
( ) z m x =

Chnh nh
M hnh
Mu

Hnh1: cu trc b iu khin b bt nh
197
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
m
e z z = . Nhim v l phi thit k b hiu chnh
(b nhiu) sao cho sai lch e lun tin tim cn 0 vi
mi loi nhiu.
Vi
m
e z z =
( )( )
de
Ae B x d p
dt
| = + +

Chn hm hp thc cht c dng:
( , ) ( ) ( )
T T
V e d e Pe d p H d p = + + +
P l nghim i xng xc nh dng ca
phng trnh Lyapunov

T
A P PA Q + =
tha mn
( , )
0
dV e d
dt
< Chn c cu chnh nh:

1
( )
( )
T T
p H x B Pe
x p
|
|

(6)
Vi c cu chnh nh ny m bo h kn l GAS
(Global Asymptotic Stable)..
3. M phng kim chng.
ng dng iu khin robot ba bc t do
Robot ba bc t do trong mt phng c dng:














Vector tn hiu iu chnh u ra:

1
q
p l
lz
| |
|
=
|
|
\ .

Cc s liu ln lt l: khi lng m
1
, m
2
, m
3
. m
men qun tnh J
1
, J
2
, J
3
. khong cch t tm thanh 1,2
n khp 1,2: lg
1,
lg
2
. khong cch t tm n khp c
cu tc ng cui: lg
3
.
3
2 g
lz l l =
Theo [4], phng trnh ng lc hc ca robot l:
( ) ( , ) ( ) D q q V q q G q t + + = (7)
Vi:
11 12 13
21 22 23
31 32 33
( )
d d d
D q d d d
d d d
(
(
=
(
(


2 1 3 1 3 3 1
3
1
. . . 2. .
( , ) 0 0 . .
0 0 0 .
m l m l m lz m q l
V q q m q lz
l lz
( +
(
(
(
=
(
(
(
(



+
2
2 3 1
3
0
-( ). .
- .
m m l q
m lz
(
(
+
(
(


1
2
3
( )
( ) ( )
( )
g q
G q g q
g q
| |
|
=
|
|
|
\ .

Theo tnh ton th phng trnh ng lc hc ca
robot nu tnh n c thnh phn nhiu c dng tng
qut
( ) ( , ) ( )
r d
D q q V q q G q F t t + + + + = (8)
t bin trng thi:

1
2 1
3
4
5 1
6
x q
x l
x lz
x
x q
x l
x lz
| | | |
| |
| |
| |
= =
| |
| |
| |
| |
\ . \ .

Phng trnh ng lc hc robot chuyn thnh:

( ) ( )( )
d
d x
f x H x
dt
t t = +

Vi:
1
1
4
5
6
( )
( )
( )[-V(q,q)-G(q)-F (q)] ( )
( )
r
x
q x
l x
f x
lz a x
D q b x
c x

| |
|
| |
|
|
|
|
= =
|
|
|
|
|
\ .
|
|
\ .


1
1 2 3
4 5 6
7 8 9
0 0 0
0 0 0
0 0 0
( )
( )
H x
c c c D q
c c c
c c c

| |
|
|
| O
| |
= =
|
|
\ .
|
|
|
\ .

Tuyn tnh ha chnh xc
Vi tn hiu iu khin:
1
( )(w-p(x)-Cz( )) u L x x

=
Trong :
X2
z2
X3
z3
X0=X1
z0
z1
u
l
2
l
1

Hnh 2: Cu hnh robot 3 bc t do
q
198
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
( )
( ) ( )
( )
a x
p x b x
c x
| |
|
=
|
|
\ .

1 2 3
1
4 5 6
7 8 9
( )
c c c
L x c c c D
c c c

| |
|
= =
|
|
\ .

Php i bin
1
4
2 1
5 1
3
6
( )
x q
x q
x l
z x
x l
x lz
x lz
| | | |
| |
| |
| |
= =
| |
| |
| |
| |
\ . \ .

Kt qu i tng chuyn thnh dng
[w - ( ) ]
d
d z
Az B x
dt
| t = +

C cu chnh nh :
1
( )
( )
T T
p H x B Pe
x p
|
|

Kt qu m phng :








Cc kt qu m phng cho thy b iu khin thch
nghi y m bo bm qu o mu trong iu kin
h thng chu tc ng ca nhiu.

4. Kt lun

H thng iu khin thch nghi theo m hnh mu trn
c s tuyn tnh ho chnh xc ci thin c ng k
cht lng bm ca robot khi c nhiu tc ng. So
vi cc phng php iu khin thch nghi khc,
phng php iu khin c xut l kh n gin,
khi lng tnh ton nh v d thc hin.

TI LIU THAM KHO

1. N. C. Dng : iu khin thch nghi Robot
Lun vn cao hc. HBK HN 2007.
2. N. D. Phc : L thuyt iu khin nng cao.
Nh xut bn KH & KT. 2009
3. N. D. Phc, P. X. Minh, H. T. Trung : L
thuyt iu khin phi tuyn. NXB KH & KT.
2008
4. N. M. Tin : iu khin robot cng nghip.
NXB KH & KT. 2007
5. John J.craig: Introduction to robotics. Second
Edition. Addison-Wesley Pulishing
Company, Inc

L Hu Trung nhn bng k s
iu khin ti i hc Bch khoa
nm 2004, nhn bng thc s
ngnh iu khin v t ng ha
ti i hc Bch Khoa nm 2011.
Hin nay ang cng tc ti trng
Cao ng ngh C gii Ninh Bnh,
hng nghin cu chnh l thit k
v thc hin cc h thng iu khin v t ng ha.












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