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为了解决基于信号补偿的鲁棒控制方法在实际系统中的设计和实现问题,将该方法应用于实际机械臂系统的控制器设计。在分析了实际控制器设计与理论设计之间的差异的基础上,针对实际系统对控制器设计的约束,提出了可采取的措施,并提出了相应的控制器设计及调节方法,即首先设计单关节子系统标称控制器和鲁棒补偿器,然后再进行多关节鲁棒控制器的统调。将该方法用于实际的二自由度平面机械臂系统的鲁棒控制器设计,进行了物理实现和控制实验,获得了期望的控制结果。
In order to solve the problem of design and implementation of the robust control method based on signal compensation in practical systems, this method is applied to the controller design of real robotic system. Based on the analysis of the differences between the actual controller design and the theoretical design, this paper puts forward the measures that can be taken for the restraint of the controller design in the actual system, and proposes the corresponding controller design and adjustment method, that is, the first design Single joint subsystem nominal controller and robust compensator, and then carry out multi-joint robust controller tuning. The method is applied to the design of a robust controller for an actual two-degree-of-freedom planar manipulator system. The physical implementation and control experiments are carried out and the desired control results are obtained.