Adaptive Control Of Mechanical Systems With Static And Dynamic Friction Compensation.pdf

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1、ADAPTIVECONTROLOFMECHANICALSYSTEMSWITHSTATICANDDYNAMICFRICTIONCOMPENSATIONByYONGLIANGZHUBachelorofScienceZhejiangUniversityHanzhou,Zhejiang,P.R.China1988MasterofScienceUniversityofScienceandTechnologyHefei,Anhui,P.R.China1991SubmittedtotheFacultyoftheGraduateCollegeoftheOklahomaStateUnivers

2、ityinpartialfulfillmentoftherequirementsfortheDegreeofMASTEROFSCIENCEDecember,2001ADAPTIVECONTROLOFMECHANICALSYSTEMSWITHSTATICANDDYNAMICFRICTIONCOMPENSATIONThesisApproved:ThesisAdviser_--2--~~A.~'-----Deanof~ateCollegeiiACKNOWLEDGMENTSIwishtoexpressmysincerestappreciationtomyadvisor,Dr.Prab

3、hakarR.Pagillaforintelligentsupervision,constructiveguidance,inspiration,andfriendshipthroughoutthedevelopmentofthisinvestigation.Withouthishelpandsupervision,Iwouldnothavecompletedthiswork.Iwouldliketoextendmywarmestthankstomymastercommitteemembers:Dr.GaryYoungandDr.E.A.Misawafortheirhelpa

4、ndguidance.IwishtothankmycolleaguesatOklahomaStateUniversityRoboticsResearchLab:RarnmishlyV.Dividedly,FuYet,GymkhanaNag,Sachem,andL.PraseC.Parera.TheyareamongthefinestpeopleIknowandareajoytoworkwith.IIITABLEOFCONTENTSChapterPage1Introduction12DynamicModelwithFriction42.1RobotDynamics...42.2

5、StaticFrictionModels.62.3TheDahlModel....82.4TheBliman-SorineModel92.5TheLuGTeModel.....112.6CompleteDynamicModel123ControllerDesign143.1PDControl153.1.1SimulationResults153.2ModelBasedAdaptiveControl173.3ComputedTorqueControl..203.4ModelBasedAdaptiveControlwithStaticFrictionCompensation213

6、.4.1SimulationResults................243.5AdaptiveControlwithDynamicFrictionCompensation.263.5.1SimulationResults................294ExperimentalPlatform324.1Hardware...................................33ivChapterPage4.1.1MotorDrivers.....344.1.2DSPServoController354.2Software........364.2.1R

7、PLSoftware.364.2.2ServoSoftware374.3ManipulatorKinematics374.4ManipulatorDynamics395Experiments435.1DesiredTrajectoryGeneration435.2ExperimentalCondition.455.3MotorCharacteristics..465.4ParameterIdentificationoftheLuGreFrictionModel485.5ExperimentalResul