负载不确定的柔性机械臂自适应自抗扰控制

发布时间：2018-05-04 17:23

本文选题：多柔性连杆机械臂 + 自抗扰控制　；参考：《哈尔滨工业大学学报》2017年07期

【摘要】：为解决末端具有不确定负载的柔性机械臂的位置控制问题,设计了自适应自抗扰控制器.采用奇异摄动理论将多柔性连杆机械臂动力学系统分解为快时标和慢时标两个子系统.针对快时标子系统设计线性二次型控制器,用于快速抑制柔性连杆的振动,将快时标状态变量转移到慢流形上;针对慢时标子系统,设计自抗扰控制器,用于跟踪期望角度.针对末端负载的不确定性,采用迭代最小二乘算法估计末端负载的质量,并在自抗扰控制器中进行补偿.结果表明:末端负载的不确定量达到预估负载质量的200%时,在15 rad/s范围内,角度控制的均方差0.08 rad,明显优于不对末端负载进行补偿的情况.在末端负载和机械臂运动速度都发生变化时,所提出的自适应自抗扰控制器具有一定的鲁棒性.
[Abstract]:In order to solve the position control problem of flexible manipulator with uncertain end load, an adaptive active disturbance rejection controller is designed. The dynamic system of multi-flexible linkage manipulator is decomposed into two subsystems by singular perturbation theory: fast time scale and slow time scale. A linear quadratic controller is designed for the fast time scale subsystem, which is used to suppress the vibration of the flexible connecting rod quickly, and the fast time scale state variable is transferred to the slow manifold. For the slow time scale subsystem, an active disturbance rejection controller is designed to track the desired angle. In view of the uncertainty of terminal load, the iterative least square algorithm is used to estimate the quality of terminal load and compensate in the ADRC. The results show that when the uncertainty of the end load reaches 200% of the estimated load mass, within 15 rad/s, the angle-controlled mean square error is 0.08 rad. which is obviously better than that without compensating the end load. The proposed adaptive active disturbance rejection controller is robust when both the end load and the velocity of the manipulator are changed.
【作者单位】：机器人系统与技术国家重点实验室(哈尔滨工业大学);哈尔滨工业大学航天工程系;上海宇航系统工程研究所;
【基金】：中国博士后科学基金(2014M560255) 机器人技术与系统国家重点实验室开放研究项目(SKLRS-2013-ZD-05) 黑龙江省博士后基金(LBH-Z14107)
【分类号】：TP241

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