欢迎访问机床与液压官方网站!

咨询热线:020-32385312 32385313 RSS EMAIL-ALERT
考虑模型不确定和关节电机动态的柔性机械手滑模控制
作者:
作者单位:

作者简介:

通讯作者:

中图分类号:

基金项目:

江苏省高校自然科学基金面上项目(16KJB470019);江苏省第六期“333工程”资助项目(BRA2022336)


Sliding Mode Control of Flexible Manipulator Considering Model Uncertainty and Joint Motor Dynamics
Author:
Affiliation:

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    针对双臂柔性机械手末端控制,考虑关节电机动态特性和模型参数的不确定性,提出一种非线性滑模控制方法。建立柔性机械手与关节电机的联合模型,并利用输出重定义的方法实现系统模型的解耦,并解决其非最小相位问题。重定义子系统和柔性模态子系统两部分。针对重定义子系统,设计一种非线性滑模控制器,可同时实现重定义输出变量和关节电机动态的鲁棒控制。推导出分解后的柔性模态在平衡点邻域的状态空间中的表达式,并基于李雅普诺夫稳定性理论,建立输出重定义系数与系统稳定性的约束关系,推导出双机械手末端位移的误差范围。仿真结果表明:关节电机动态的影响不可忽略,所提方法可显著改善系统响应性能。

    Abstract:

    For the tip position control for two-link flexible manipulators, the dynamic characteristics of joint motor and the uncertainty of model parameters were considered, and a nonlinear sliding mode control method was proposed. The joint model of flexible manipulator and joint motor was established, and the output-redefinition method was used to decouple the system model and solve its nonminimum phase problem. The subsystem and flexible modal subsystem were redefined. For the redefined subsystem, a nonlinear sliding mode controller was designed for the robust control of redefined variables and joint motor dynamics simultaneously. The expression of the decomposed flexible modes in the state space near the equilibrium point was derived, based on the Lyapunov stability theory, the constraint relationship between the output redefinition coefficient and the system stability was deduced, and the error range of the tip position was achieved. The simulation results show that the influence of joint motor dynamics can not be overlooked, and the system response performance can be significantly improved by using the proposed method.

    参考文献
    相似文献
    引证文献
引用本文

王春峰.考虑模型不确定和关节电机动态的柔性机械手滑模控制[J].机床与液压,2022,50(1):75-81.
WANG Chunfeng. Sliding Mode Control of Flexible Manipulator Considering Model Uncertainty and Joint Motor Dynamics[J]. Machine Tool & Hydraulics,2022,50(1):75-81

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:
  • 最后修改日期:
  • 录用日期:
  • 在线发布日期: 2022-05-13
  • 出版日期: