| 英文摘要 | Recently,a new shipbuilding equippment----6 dof shipbuilding platform-----is introduced abroad and inland.With the adoption of the theory on robot cooperation and servo control,this equippment greatly improves the automatic level of shipbuliding,which makes it superior to the traditional mathods with respect to control precision、control flexibility and extentation. All this make it indispensable to modern shipbuilding industry. Based on current control program,much more rearch has been made on multi-robot cooperation and servo control: 1.Based on the rearch robot motion control theory related to the ship block merge,a new method on robot pose and position calibration under the conception of visual block is deduced,which provide the theroy provement for the current method.More over,combined with optimization theory,a new trajectory planning is made with the framework of lie group and differential geometry.As to multi-robot cooperation,visual block is introduced and robot inverter kinematics is deduced,which can be used in other related project. 2.As far as uncertain external disturbance,two methods are introduced.One is based on disturbance observer,the other is based on adaptive robust control.In former method,adaptive parameter identification is adopted,which servo as the normal parameter.At the same time, filter is used to get information of speed and acceleration.In latter method,adaptin ration based on PI control is with comparison to the traditional integral control,which inprove the transient performance.After experiment test,it proves that the latter is superior to the former. 3.As to systems with uncertain paramerter and uncertain external disturbance,adaptive robust control is introduced.Firstly,the framework of adaptive robust control is provided followed by it’s application to motor control.A new mathod based on desired trajection is proposed,which makes the design of adaption independent on robustness design.As a result,bigger adaption rate can be used,which improves the transient performance of parameter adaption.This change improve control system transient performance as well as stable performance. 4. With respect to state estimation of adaptive robust control,a new state estimation mathod based on stable filter is accepted.This state oberver can deal with nonlinear control system.With the parameter uncertain and uncertain external disturbance,the adaptive robust controller with this state observer can guarantee state and parameter estimation to be bounded and guarantee transient/stable tracking performance. |
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