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    DK robot

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    DK robot

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    © All Rights Reserved
    Download as PDF or read online from Scribd
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    7 views12 pages

    Thuat Toan DK

    Uploaded by

    Tran Van Thuc
    DK robot

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
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    Tap chi Tin hoc va Diéu khién hoc, ‘T-24, 8.3 (2008), 269-280 Vé MOT THUAT TOAN BiEU KHIEN TRUQT ROBOT DU’ DAN DONG: NGUYEN VAN KHANG!, NGUYEN QUANG HOANG!, LE DUC DAT!, TRAN HOANG NAM? ‘Tredng Dai hee Béch khoa Hi NG : 2 Trang Cao ding Su pham ky thugt Vink Long Abstract. Robotic manipulator control by traditional methods as PD, PID plus feed forward com- pensation requires exact dynamie parameters sich assmasses, centers of mass, and mass inertias of the system. This paper presents a algorithm of sliding mode controller for redundant manipulators. ‘This control method does not require to know exactly dynamic parameters the system, while the control performance is guaranteed. A numerical simulation is presented to demonstrate the validity of the approach, in which a four degree of freedom planar manipulators is used for the simulation by mean of MATLAB. Tém t&t. Khi digu khién robot bing ee phuong phap théng thing alu PD, PID cling voi bi truyén thang yéu clu Gin phdi biét chinh xdc cde tham 96 dng luc hoc ca rébét nhu khéi long, vii turf khdi tam, mémen quén tinh khéi. Béo céo nay trinh bay phuong phap diéu khién trugt ép dung cho rébét dur dain dong. Véi phurong phép digu khién nay chat hong diéu khién duzge dam bdo ma khéng cin biél chinh xde tham s6 cla hé. Céc két qué mé phéng sé déi voi robét phdng bén bie tu do duge thuc hién nhd phiin mém da nang Matlab. 1. GIGI THIEU CHUNG Ngay nay rébét duce str dung trong nhiéu finh vue tir phuc vu sén xudt trong cde nha méy, trg gitip cdc cong viée nghién citu trén m§t dat, dudi dai dong, trong khéng gian va tham chi trén cd b8 mit sao ha. RObét cong nghiép JA mot thi du tiéu biéu_vahs co dign ti, mét hé bao him nhiéu link vire trong né nhu: co hoc, ky thuat dién-dién ti, ky thudt diu khign, ky thuat do xtt If 56 ligu, ky thuat lap trinh,... Bén canh viée ché tao kip gidp, bai todn nghién ctu déng hye hoc va thiét ké diéu khién c6 mét vai trd quan trong dé rdbot thue hign duge cée thao tée mong mudn. Hign nay 06 rét nhigu phuong php khée nhau trong viée diéu khign rébat cong nghiép nhw diéu khién diya trén mé hinh tuyén tinh héa, diu khién m6, diéu khién thich nghi, diéu khién diva trén mang noron,... Méi phuong phép déu cd nhimg wu va nhuoc diém (Hills and Yoerger, 1994). Phuong phép diéu khign tuyén tinh 48 duge phét trign tir lau vA v6i 46 tin cAy cao. KF thuat nay thurong duoc 4p dung cho céc hé tuyén tinh. Tuy nhién, phuong phép ndy dua trén cée phuong trinh tuyén tinh héa quanh diém lam vige va né dai héi phai biét durge chinh xde céc théng 86 ctla rdbét. Phuong phép diéu khign thich nghi cho phép diéu chinh cfc thong sé *BAI béo duce hoin thanh véi su ti tro cla Quy phét trign khoa hoc va céng nghé quéc gia 270 NGUYEN VAN KHANG, NGUYEN QUANG HOANG, LE BUC DAT, TRAN HOANG NAM diéu khién, tuy nhién qué trinh diéu chinh nay lai nhay déi v6i nhiéu dong ngoai. Diéu khién mé 1 mét trong cée Phuong phdp hién dai, hién nay dang dug dé cap dén nhieu. Phuong phép nay dira trén 6 qui th duge xéc lip boi ngudi thigt ke. Uu diém eta du khién md la phuong phép nay chi yéu ciu biét mot 36 théng tin tdi thiéu Vé hé, n6 6 thé dp dung duge cho cdc hé tuyén tinh va phi tuyén. Tuy nhién, phuong ph4p nay khéng khai thdc dirgc sur hiéu biét vé hé dong luc, Dieu khién trugt la phuong phép diéu khién dua trén mé hinh, né d8 cp dén hiéu ting dong lie cting nhw dip tng lai ede sai sd phan héi ‘Trong béo cdo nay phurong phép digu khién truot duge khai the st dung dé thiét ké diéu khién cho rébét dur dan dong. Uu diém ela phuong phap la ta khong cin biét that chinh xde cde théng 86 hé ma van dam bio dé chinh xe cia chuyén déng mong inuén. 2. MO HINH DONG Luc CUA ROBOT Dé nghién citu déng hire hoc va trén co sé dé thiét ké bd diéu khién cho mét hé dong lye néichung, mdt hé co hoe niu rébét cong nghiép néi riéng, Mot mé hink todn hoc mé tA lién hé gira din vao dau ra cia hé la rét cin thiét. M6 hinh todn hoc nay e6 thé la phurong trinh vi phan thwong hoae la phong trinh vi phan dai sé. Phong trinh Lagrange loai 2 va. phiong trinh Newton-Euler thurdng durge str dung dé thiét 14p mé hinh ton hgc cho mot 06 cfu tric cy voi n khdu déng 06 m bac tr do (Khang, 2007). Mé hinh éng luc hoc cla mét rébét cong nghiép n bac tu do duoc viét dang ma-tran nhur sau (Spong, Hutchinson, and Vidyasagar, 2006, L. Sciavieco and B. Siciliano, 2000) M(Q)G+C(a.9)4+9(9) +4 = 7, () trong 46: M(q): ma tran khdi Iugng ¢6 n xn, C(a,4)4 : veto o& n chita cdc re Cériétis va, re ly tam, 9(q): vecto o& n chita céc luc do trong tréng, d: vecta chita cdc hre/momen do kich déng nhidu, 1: vecto chita. cée Irc/mémen cia déng co din déng. Hé dong hrc (1) c6 mét 36 tink chat quan trong sau (Muray, Li, and Sastry, 1994) - Ma tran khéi hrong M(q) 18 ma tran déi xing, xée dinh duong va tén tai hai sd duong #1(q) va Ho(q) théa min (Ql S M(q) S wo(Q) I, néu tat cA che khép du 1 khép quay thi ji, po [A hing 86. = Ma tran N(q, 4) = M(q) — 2C(q,4) la ma tran déi xiing lech, tite [a 27 (M(q) — 2C(q. dla = 0. - Tén tai cée hiing 56 p; sao cho: [4(Q)ll < a2, CC, 4)Il S palidll, Ilg(@)|l < e3- Vé MOT THUAT TOAN DIbU KHIEN TRUQT ROBOT DU DAN BONG 271 3. NHIEM VY THIET KE DIEU KHIEN Nhiém vy eda bai todn diéu khign IA thm qui ludt cud lue/mémen do cde déng eo dién tao ra téc dung Ién cdc khau 4é dam bdo rébét chuyén dng theo qui ludt mong muén ga(?) cho truvée, nhim thye hign mot nhigm vy ndo dé. ‘Trén eo sé chuyén dong mong muén qa(?) duge xéc dinh truée va. chuyén dong hién tai q(t) cila céc khép rdbét duge do bei cée chm - bién dat tai cdc khép, bé diéu khién o6 nhiém vu tinh todn va dura ra céc hre/mémen can thiét. Cée luc/mémen ny tée dong lam cho rébét thuc hién chuy€n déng mong mauén mét céch én dinh va chinh xée. So dé khéi cba mét bé diéu khién cho robot c6 dang nh Hinh 1 Hinh 1. So a6 diéu khién cla robét Dé c6 duge luét diéu khién dép tng cde yéu clu vira néu, ludt digu khién dye trén déng luc hoc nguoe thir’ng duge si dung. Véi luat diéu khién nay hyc/mémen eda bd phan din dong duce tinh nh sau: u=M(q)v + C(q, 4)4 + 9(9), trong dé v= da — Kp(4- 4a) - Kp(q—4u)- (3) ‘Thay (3) va (2) vio phuong trinh (1) ta duge M(q)|(G— Ga) + KalG — Ga) + Kp(q—49a)] = 4. (4) Do ma tran khdi long M(q) la ma tran xée dinh duong, nén tir hé thite (4) te ¢6 (G- da) + KalG- 4a) + Kp(q— 9a) = Md. (5) Néu dat e(t) = g(t) — qa(t) la sai sd gitta, chuyén dong thuye cila rdbst va chuyén dng mong muén, ta cé é+ Kae + Kpe = Md. (6) Su én dinh ela hé phong trinh vi phan tuyén tinh (6) phu thuée vio sur én dinh eda. hé phuong trinh vi phan tuyén tinh thu’n nhét tuong ting é+4 Kaé + Kye = (7) Che ma tran Kp va Kp Bn duge chon sao cho nghigm e(¢) cia phuong trinh vi phan (7) tign t6i khong khi thoi gian ¢ tang di Ion. Néu chon Kp va Kp la cde ma tran dung chéo thi phuong trinh (7) tuong duong véi hé cdc phuong trinh téch ri nhau: Et kaibi + Koi 0, @=1,...,n). (8) Dé thuan tién cho viéc chon thong sd ta dat 272 NGUYEN VAN KHANG, NGUYEN QUANG HOANG, LE DUC DAT, TRAN HOANG NAM Ips = W3, ai = 25:5 ) khi dé hé phuong trinh vi phan (8) cé dang &; + 26,6; + wPe; = 0, (7 = 1,...,n). (10) Nghiém cia phuong trinh trén 06 dang ei(d) = Ajen*sin(uxt +0:), (6 I, -.n)- ay Khi 4p dung luat diéu khién (2) thi ta cin phai biét chinh xdc cdc tham sé hé cé mt trong cdc dai lvgng M(q), C(q, 4) va g(q) nhu khéi lugng, vi tri khdi tam, momen quén tinh khéi,... Viée xde dinh cée tham 86 nay khéng don gidn dic biét khi rébét da duoc lap dat sin, Dé trénh nhimng khé khan nay 6 day mét phuong phap diéu khién bén ving duge khai thac str dung. * Gia sit goi s 1A sai 83 suy rong durge xde dinh béi phirong trinh s = e(t)+Pe(d), (2) trong 46 T = diag{A1, d2, 0s Anhs Az > 0, (13) e(t) = a(t) - galt). (14) Ré rang 1a khi s; = 0, thi e;(¢) = e;(0)e~™ 8é tién ve O khi thdi gian £ tang dil on. Bay gi’ ta thm luét diéu khién dé dam bdo s; = 0 hoi s; tién v8 0. Dat , = da —Te(t) ta 6 G0) = 0) > $= GD = Gd). (5) Hé tim ludt du khién ta chon him Lyapunov nhir sau Ve 5o M(g)s. (16) Dao ham V theo thdi gian t ta duge V = sTM(a)s-+ 35" MCa)s an ‘Tir (1) va chi ¥ dén (15) ta 6 M(q)s = 7 — Ca, 4)4— 9(4) — M(q)a(8) — 4. (a8) Ciing tir (15) suy ra g(¢) = s + g,(t), nén ta 6 Cla, 4)4 = Cla Ds + C(4, 4)4r- Cui cing ta nhan duge M(q)4 = 7 —C(a, 4)8 — M(a)iir — CCQ, d) ae — ga) ~ 4. (19) ‘Thay hé thite (19).vao (17) nhan duge VS lr—M(a)ie — Ola, ee — 90) ~ ah + 8715100) - Cale. (20) Ohi ¥ ring s7[}.M(q) — C(q, @)]s = 0. Th (20) ta chon Inat diéu khién nhur sau 7 = M(q)d- — O(4, 4)ar + 5(@) — Kpa8 ~ Kesgn(s)- (21) VE MOT THUAT TOAN BIBU KHIEN TRUOT ROBOT DU DAN DONG 273 O day sgn(s) = [sgn(s1), sgn(se), »san(sn))” , Ka va K, 1A céc ma tran thurc déi xing xée dinh duong, Kpg = KZ, >0, Ky = KT >0. é don giin ta chon hai ma trim ny 66 dang dung chéo Kya = diag {kya Kays Red}, Ka = diag hy), 3, 2, KE Voi céch chon (21), hé thite (20) tré: thank V = —s? Kyas — 5” Kgsgn{s) — 87d — 8" |M (ayn + Cla, dae + 90) = SIRE — YP KL — Dosis +0) < SOKO — URL — ja + el 2 a + 2% a G day cée sai Kich gitta mé hinh thuc sir dung trong (1) va cde thong s6 mé hinh sir dung trong bé digu khién (21) nhu sau M(q) = M(q)~ (4,4) = Cla, - 54) ~ 9(@) - M(q), 64.9. CU =(MG)a +E. AG + H(i, (i= 1,- Nhu thé dé dam bao V < 0 th) ta phai chon cée phiin tt cla K, saocho KS" —|d;+pi| > 0 hay K& > Ja; + pil > 0. 4. DONG HOC NGUGC ROBOT DU DAN DONG 4.1 D&t bai todn va cdc céng thie co’ ban Xét mot rdbst o6 n bac tir do, goi g € R” 1A vector chita cdc toa 46 khép. Ban kep cia robét hoat dong trong khong gian thao tac, goi a € R™ JA vecto chita céc toa dé vi tr{ cha nd trong khéng gian thao tée R™ (m < 6). Két qud cila bai todn déng hoc thuan cho biét x= fq), %f ER™,qeER" (22) Khi m 1 thi ta lai tiép tuc thé (22) vao phuong trinh (21) va lai gidi phurong trinh nay. Qué trinh lap nay duge dirng tai ||Agol] < «1. Sau dé lity on’ (83) Biét duge nghiém qo cla phrong trinh (22) tai thoi diém f = 0. Thay vao (25), (28) ta tim durge 4(0) = do va G(0) = do. Gid tri sai s6 cho phép €1 xée dinh theo yéu cu v8 dé chinh xée cia bai todn. b) Thugt toén adc dinh gx41 = a(th+i), (k= 0, 1,-4.2" = 1) Ap dung khai trién Taylor, ta 66 (tert) = Gters) + Aq(tess), (34) trong 46 Gte+1) dugc xéc dinh gin diing béi cong thite (30) Ttes1) = (te) + I* (q(tx))e(tVAL. (38) ‘Thé (34) vao phwong trinh (22) ta. duge @(tesr) = £(a(ter1)) = FlGter1) + Agnes flG(te1)] + Felidae tee Ti dé suy re Tite Ager © 2(ter1) — Fer) (36) Cho ¥ ring J[9(te41)] 18 ma tran c& m xn, Ages, Id vector 6 n phin tik. Do dé 86 an “Jén hon s6 phuong trinh, nghigm 6 chudn nhé nhat eda phuong trinh (36) o6 dang (m

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