车体振动弹药传输机械臂的有界轨迹跟踪控制
发布时间：2019-01-19 13:57
【摘要】：针对传统PID控制器未能考虑车体振动带来的不确定性外部摄动的影响,且存在控制性能依赖高控制输入、驱动容易饱和的缺点,基于计算力矩法与一种基于隐式Lyapunov函数的控制律,提出一种新的弹药传输机械臂轨迹跟踪控制方法.控制器的增益是系统误差变量的可微函数,随着实际轨迹逐渐趋向于期望轨迹,该增益逐渐趋向于无穷大,但是控制输入始终满足给定的约束.数值求解系统的动力学方程中采用牛顿迭代法与龙格库塔法交叉迭代.结果显示,所设计的控制器可以有效抑制车体振动的影响,实现了弹药传输机械臂的渐进轨迹跟踪控制,具有良好的鲁棒性.
[Abstract]:The traditional PID controller fails to take into account the uncertain external perturbation caused by the vibration of the car body, and has the disadvantage that the control performance depends on the high control input and the drive is easily saturated. Based on the moment calculation method and a control law based on implicit Lyapunov function, a new trajectory tracking control method for ammunition transmission manipulator is proposed. The gain of the controller is a differentiable function of the system error variable. With the actual trajectory moving towards the desired trajectory, the gain tends to infinity, but the control input always satisfies the given constraints. Newton iteration method and Runge-Kutta method are used to solve the dynamic equations of the system. The results show that the designed controller can effectively suppress the effect of the vehicle body vibration and achieve the progressive trajectory tracking control of the ammunition transfer manipulator with good robustness.
【作者单位】： 武汉科技大学冶金装备及其控制教育部重点实验室;武汉科学大学机械传动与制造工程湖北省重点实验室;南京理工大学机械工程学院;
【基金】：国家自然科学基金资助项目(51605344,51175266) 中国博士后科学基金资助项目(2016M592398)
【分类号】：TJ810.3;TP241
，
本文编号：2411435
[Abstract]:The traditional PID controller fails to take into account the uncertain external perturbation caused by the vibration of the car body, and has the disadvantage that the control performance depends on the high control input and the drive is easily saturated. Based on the moment calculation method and a control law based on implicit Lyapunov function, a new trajectory tracking control method for ammunition transmission manipulator is proposed. The gain of the controller is a differentiable function of the system error variable. With the actual trajectory moving towards the desired trajectory, the gain tends to infinity, but the control input always satisfies the given constraints. Newton iteration method and Runge-Kutta method are used to solve the dynamic equations of the system. The results show that the designed controller can effectively suppress the effect of the vehicle body vibration and achieve the progressive trajectory tracking control of the ammunition transfer manipulator with good robustness.
【作者单位】： 武汉科技大学冶金装备及其控制教育部重点实验室;武汉科学大学机械传动与制造工程湖北省重点实验室;南京理工大学机械工程学院;
【基金】：国家自然科学基金资助项目(51605344,51175266) 中国博士后科学基金资助项目(2016M592398)
【分类号】：TJ810.3;TP241
，
本文编号：2411435
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