An Impedance Control Algorithm for Wire Stripper of Current Distribution Robot based on Recursive Least Squares Method
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摘要: 针对配电机器人剥线过程中导线线芯易受损问题提出一种适合末端剥线器的基于阻抗控制的切进力跟踪控制算法。目前很多阻抗控制无法完成环境刚度突变的任务要求，针对配电机器人工作环境刚度的复杂性，在阻抗控制算法中引入递推最小二乘法(RLS)对导线绝缘层和线芯刚度进行在线辨识实现对切进力的精确稳定跟踪，并在MATALAB/Simulink中对配电机器人剥线环节的阻抗力控制算法和提出的基于RLS的阻抗算法进行对比仿真试验。仿真结果显示，基于RLS参数辨识的力控算法在环境刚度突变的情况下依然有着较好的力跟踪性能，且稳态误差趋近于零，试验结果的对比显示了RLS阻抗控制算法的可行性和有效性。Abstract: Because the wire core of a current distribution robot is easily damaged during its stripping process, we proposed the cutting force tracking control algorithm based on the impedance control suitable for an end stripper. At present, the task requirements for sudden changes in environment stiffness cannot be met through many types of impedance control because of the distribution robot′s complexity of working environment stiffness, the recursive least squares (RLS) method was introduced into the impedance control algorithm to identify the wire insulation and core stiffness online to achieve the accurate and stable tracking of the cutting force. Furthermore, the impedance control of the stripping process of the distribution robot and the RLS method were simulated and tested contrastively in MATLAB/Simulink. The contrastive simulation results show that the impedance control algorithm based on the parameter identification with the RLS method still has a good force tracking performance during sudden changes in environment stiffness and that the steady-state error approaches zero, showing that the impedance control algorithm is feasible and effective.
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Key words:
- stripper /
- RLS method /
- parameter identification /
- impedance
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