• CN：11-2187/TH
• ISSN：0577-6686

›› 2007, Vol. 43 ›› Issue (12): 97-102.

• 论文 •

### μ理论在柔顺力控制中的应用

1. 武汉科技大学机械自动化学院;哈尔滨工业大学机电工程学院
• 发布日期:2007-12-15

### APPLICATION OF μ THEORY IN COMPLIANT FORCE CONTROL

ZHAO Hui;ZHANG Hui;ZHANG Shangying;HAN Junwei

1. School of Mechanical Automation, Wuhan University of Science & Technology School of Mechatronics Engineering, Harbin Institute of Technology
• Published:2007-12-15

Abstract: Application of μ theory in compliant force control system is studied. Compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate pushing and pulling procedure of forcible alignment of space docking. The cascade structure of “out-force-loop containing inner-position-loop” is depicted, and the method is set forth using classical control strategy to realize compliant force control. Considering uncertainties such as parameter perturbations, model perturbations and external disturbances, etc, robust force controller is designed using μ synthesis theory. It is listed in detail that the selection method of weighting functions in robust compliant force control loop and the designing procedure of robust force controller. Robust stability and robust performance are compared between robust force controller and classical force controllers by μ analysis. Experiment of robust force controller and classical force controllers is presented. The results indicate that the designed robust force controller is of efficiency and superiority.