电子科技2025，Vol.38Issue(5)：60-67,8.DOI:10.16180/j.cnki.issn1007-7820.2025.05.009
核电站水池焊接机器人自适应变刚度柔顺控制
Research on Adaptive Variable Sstiffness Compliance Control of Nuclear Power Plant Pool Welding Robot
摘要
Abstract
In view of the requirements of complex working environment and high precision welding in pool weld-ing process of nuclear power plant,gradient descent method is used to update parameters of parameter estimator step by step,so as to realize the adaptive adjustment of parameters,and improve the performance and robustness of adap-tive control.A MRAC-VSIC(Model Reference Adaptive Control-Variable Stiffness Impedance Control)based on gradient descent method is proposed by combining model reference adaptive control with variable stiffness impedance control.It is used to adjust the stiffness parameters in the adaptive compliance controller.The closed-loop stability of MRAC-VSIC method is analyzed by using Lyapunov stability theory,and the stability of the closed-loop system is proved.The simulation results show that the proposed method can improve the dynamic response ability of the robot and the robustness of the control system,reduce the steady-state force error,and effectively improve the control pre-cision and stability in the welding process.关键词
核电水池/水下焊接机器人/阻抗控制/模型参考自适应/梯度下降法/参数估计器/末端执行器/力跟踪Key words
nuclear power pools/underwater welding robot/impedance control/model reference adaptation/gra-dient descent method/parameter estimator/end effector/force tracking分类
计算机与自动化引用本文复制引用
袁鹏达,回楠木,韩晓微,吴宝举..核电站水池焊接机器人自适应变刚度柔顺控制[J].电子科技,2025,38(5):60-67,8.基金项目
辽宁省应用基础研究计划(2023JH2/101300205) （2023JH2/101300205）
沈阳市科学技术计划(23-407-3-33) Liaoning Provincial Science and Technology Plan(2023JH2/101300205) （23-407-3-33）
Shenyang Science and Technology Plan(23-407-3-33) （23-407-3-33）
