Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load
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 lo...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Shanghai Jiao Tong University
2023-05-01
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| Series: | Shanghai Jiaotong Daxue xuebao |
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| Online Access: | https://xuebao.sjtu.edu.cn/article/2023/1006-2467/1006-2467-57-5-601.shtml |
| _version_ | 1797811034520551424 |
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| author | SONG Chuanming, DU Qinjun, LI Cunhe, LUO Yonggang |
| author_facet | SONG Chuanming, DU Qinjun, LI Cunhe, LUO Yonggang |
| author_sort | SONG Chuanming, DU Qinjun, LI Cunhe, LUO Yonggang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-13T07:17:41Z |
| format | Article |
| id | doaj.art-04b6bcf9cad044aaa29c3374b21c5aec |
| institution | Directory Open Access Journal |
| issn | 1006-2467 |
| language | zho |
| last_indexed | 2024-03-13T07:17:41Z |
| publishDate | 2023-05-01 |
| publisher | Editorial Office of Journal of Shanghai Jiao Tong University |
| record_format | Article |
| series | Shanghai Jiaotong Daxue xuebao |
| spelling | doaj.art-04b6bcf9cad044aaa29c3374b21c5aec2023-06-05T02:26:10ZzhoEditorial Office of Journal of Shanghai Jiao Tong UniversityShanghai Jiaotong Daxue xuebao1006-24672023-05-0157560161210.16183/j.cnki.jsjtu.2021.342Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable LoadSONG Chuanming, DU Qinjun, LI Cunhe, LUO Yonggang0School of Electrical and Electronic Engineering, Shandong University of Technology, Zibo 255049, Shandong, ChinaAimed 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.https://xuebao.sjtu.edu.cn/article/2023/1006-2467/1006-2467-57-5-601.shtmlhumanoid flexible jointvibration suppressiontorque compensation controlstate observer |
| spellingShingle | SONG Chuanming, DU Qinjun, LI Cunhe, LUO Yonggang Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load Shanghai Jiaotong Daxue xuebao humanoid flexible joint vibration suppression torque compensation control state observer |
| title | Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load |
| title_full | Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load |
| title_fullStr | Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load |
| title_full_unstemmed | Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load |
| title_short | Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load |
| title_sort | coupling modeling of humanoid flexible joint and vibration suppression at variable load |
| topic | humanoid flexible joint vibration suppression torque compensation control state observer |
| url | https://xuebao.sjtu.edu.cn/article/2023/1006-2467/1006-2467-57-5-601.shtml |
| work_keys_str_mv | AT songchuanmingduqinjunlicunheluoyonggang couplingmodelingofhumanoidflexiblejointandvibrationsuppressionatvariableload |