Vibration suppression method of humanoid flexible arm based on model-free predictive control

ABSTRACT

The commutation torque ripple of the joint drive motor in the humanoid flexible arm provides significance to the stability of the arm joints. Here, we established a model of the joint drive system to explain the influence of driving motor output torque on joint motion state and analyzed the mechanism of commutation torque pulsation. This general model of the drive system was established based on a model-free predictive control method. By deducing the universal model equation of the arm joint drive motor control system and using it as the prediction model, the optimal switching state is selected by the value function to maintain the constant phase current value of the non-commutation winding of the drive motor. Then, by using MATLAB/Simulink, a simulation model was built to verify the effectiveness of the proposed method.

GRAPHICAL ABSTRACT

KEYWORDS:

• Humanoid robot arm joint
• vibration suppression
• model-free predictive control

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by a grant from the National Natural Science Foundation of China [grant number 62076152], the Natural Science Foundation of Shandong Province [grant number ZR2020MF096], and funded by Beijing Advanced Innovation Center for Intelligent Robots and Systems.

Notes on contributors

Qinjun Du

Qinjun Du is a Professor at the School of Electrical and Electronic Engineering, Shandong University of Technology. His major research areas include: Robot control technology, power electronic device control technology, motor control technology.

Chuanming Song

Chuanming Song is a Doctoral candidate at the School of Electrical and Electronic Engineering, Shandong University of Technology. His major research areas include: Humanoid flexible joint robot control technology, power electronic device control technology, motor control technology.

Wei Ding

Wei Ding is a Master’s Degree student at the School of Electrical and Electronic Engineering, Shandong University of Technology.

Long Zhao

Long Zhao is a Master’s Degree student at the School of Electrical and Electronic Engineering, Shandong University of Technology.

Yonggang Luo

Yonggang Luo is a Senior Engineer at the School of Electrical and Electronic Engineering, Shandong University of Technology.