Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 VCCA-2011 iu khin thch nghi Robot cng nghip Adptive control for Industrial Robot Phan Xun Minh Trng i Hc Bch Khoa H Ni email: minhxp-ac@mail.hut.edu.vn L Hu Trung Cao ng ngh C gii Ninh Bnh email: Auto.depart@gmail.com Tm tt Robotlmtitngphituyn,trongthctmt s tham s ca robot kh c thxc nhng, thm chmtsthamscnbinitrongqutrnhlm vicnhkhilngtigptaymy,mmenqun tnhti,ccthnhphnmasttrongcckhpVi ccbiukhinkinhinkhtcchnh xcchuynng,cbitkhirobothotngtc cao.iukhinthchnghitheomhnhmuc khnngpngcyucuny,cthliu khinchuynngcarobotbmtheoquoca m hnh mu vi cc ch tiu cht lng mong mun. Bi bo xut thut ton iu khin thch nghi theo mhnhmutrncstuyntnhhochnhxcv minhhaktqutcbngmphngtrnnn matlab-simulink cho robot 3 bc t do. Abstract Robotisanonlinearplant,infact,itisdifficultto identifysomeparametersofrobottruthfullyorsome ofthemchangeduringworking,suchasloadmass, inertialmoment,jointsfrictionsByclassical controllers, it is difficult to getthe accuracy ofRobot movement,specialityinhighspeed.thepaper proposedaadaptivecontrolalgorithmbasedon referencemodelandexactlinearizationtosolvethis problem.Somesimulationresultsofthreedegreefreedom robot manipulator are illustrated. K hiu K hiun v ngha A, Bma trn ca m hnh fhm phi tuyn mM hnh mu 1. t vn Trong thc t, iu khin robot bm chnh xc qu o ttrclmtbitonkhvrobotlmti tngphituyncccthamskhxcnhc chnh xc.Bibotrnh by phng php iu khin thchnghi theomhnhmudatrnmhnhtuyntnhho chnhxccarobot.Bngbiukhintuyntnh hochnhxckthpvibiukhinthchnghi m bo loi b c cc thnh phn bt nh gy nn sailchtrongchuynngcarobotvmboh knlGAS.Phngphpxutcmphng kim chng bng m hnh robot ba bc t do. Cc kt qum phng cho thykhnngng dng ca thut ton iu khin trong thc t. 2. Xy dng thut ton Theo [4], phng trnh ng lc hc ca c cu robot c vit di dng tng qut ( ) ( , ) ( ) ( )d dD q q Vq q G q F q M M + + + + = (1) Trong :( ) G q thnh phn mmen trng lc ( ) D qma trn mmen qun tnh ( , ) Vq qlc hng tm v lc nht ( ) Fq - vector lc ma st tnh dM- vector mmen nhiu gy ra bi m hnh ng lc hc khng chnh xc H phng trnh trng thi ng lc hc ca robotVector trng thi bc n cho h thng :

1 2( ) [ ,, ..., , ...,]T T T T Ti nx t x x x x =Trong :

1 2[ , ] [ , ]T Ti i i i ix x x q q = =- l vector trng thi ca thanh i Vector u vo bc n: 1 2 1 2[ , ,..., ] [ , ,..., ]T Tn nu u u u M M M = =Phng trnh trng thi m t robot nh sau: ( ) ( )( )dqd x df x Hx M Mq dt dt||= = + ||\.(2) Trong : 1( )( )[-V( , ) ( ) ( )]dqf xD q q q G q F q| |=| | \ . 2( )nf x R e196Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 VCCA-2011 21( )( )n nHx RD qO | |= e | |\ . , nnR Oe H(2)cdnghphngtrnhviphnbcnht affine c thnh phn nhiu. Tuyn tnh ha chnh xc m hnh robot Trongm hnh robot (2) cc u rachnh lccbin trng thiq : 1 1 1( )( )( )n n ng x q xy gxg x q x| | | | | | |||= = = = ||| |||\ . \ . \ . (3) Cc thnh phn trong (2) c dng ( 1, i n = ): 1 2( ) ( ( ), ( ),..., ( ))nHx h x h x h x =21( ) (0 0 ( ) ( ))T ni i inh x h x h x R = e1 2 2 1 2( ) ( ( ) ( ) ( ))Tn n n nf x x x x a x a x a x+ +=Vi, 1, i j n =ta c: 1( )0 0 0 1 0 0 (0 0 ( ) ( )) 0i ih j h jTi injLg x Lxh x h x= =| |= |\ . ( ) ( ) 0jhi f j hi hi n jxLLg x L f L xx+c | |= = = |c\ . 1 12i iik rr= == Ngoi ra ch : 21( )( )n nHx RD qO | |= e | |\ . Th:1 21 21 21 1 12 2 21( ) ( ) ( )( ) ( ) ( )( ) ( )( ) ( ) ( )nnnh f h f h fh f h f h fh f n h f n h f nLLg x LLg x LLg xLLg x LLg x LLg xLx D xLLg x LLg x LLg x| | | |= = | | |\ . Lmatrnkhngsuybin.Vytheonhnghath h (2) c vector bc tng i ti thiu (1 2, ,...,nr r r ) thamn2, 1,ir i n > = .Mtkhc,dotnhcht 12nkkr r n== s nn phi c2, 1,ir i n = = . Nh vy, bc tng i ca h (2) vi cc tn hiu ra (3) tha mn iu kin : 1 2... 2nr r r r n = + + + =Nn ta c th hon ton p dng thut ton tuyn tnh ha chnh xc. Cc bc thit k : Mcchcaphngphpnyllmchohthng n nh tim cn ton cc khng ph thuc vo s tc ng ca bt k mt vector nhiu ( ) dt no. Cu trc iu khin thch nghi hnh 1 nhm m bo chuyn ng ca robot bm theo m hnh mu.Bc 1: tuyn tnh ha chnh xc Thchintuyntnhhachnhxch(2)bngb iukhinphnhitrngthi ,( , w ) ux vphpbin iviphi( ) z m x = trongA,Blccmatrn hng v A l ma trn bn (c gi tr ring nm bn tri trc o). i tng (2) s c chuyn v dng: [w + ( )d]d zAz B xdt| = +(4) Trong :( ) =(x) ( ) x L x | |Bc 2: iu khin thch nghi theo m hnh muSaukhithchintuyntnhhachnhxc,h(2) thnh h (4) c ma trn A bn, tip theo chng ta phi loibtcngnhiutheophngphpiukhin theo m hnh mu. S dng m hnh mu c dng:

,wmmd zAz Bdt = +(5) Trong: ,w w = v ( ) xp | =ltnhiub, pl tn hiu chnh nh. Donhiudkhngthocmtcchchnhxc nn gia (2) v m hnh mu lun tn ti mt sai lch ,wuw mzx zeB iu khin ,( , w ) ux i tng (2) Php i bin ( ) z m x = Chnh nh M hnh Mu Hnh1: cu trc b iu khin b bt nh 197Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 VCCA-2011 me z z = .Nhimvlphithitkbhiuchnh (b nhiu) sao cho sai lchelun tin tim cn 0 vi mi loi nhiu. Vi me z z = ( )( )deAe B x d pdt| = + +

Chn hm hp thc cht c dng: ( , ) ( ) ( )T TVe d ePe d p Hd p = + + +Plnghimixngxcnhdngca phng trnh Lyapunov TAP PA Q + = tha mn ( , )0dVe ddt