高精度轨迹跟踪的6-PRRS并联机器人自抗扰控制研究  

6-PRRS parallel robot of auto-disturbance rejection controller on high-precision trajectory tracking

作　　者：赵杰[1] 杨永刚[1] 刘玉斌[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150080

出　　处：《控制与决策》2007年第7期791-794,799,共5页Control and Decision

摘　　要：针对6-PRRS并联机器人控制系统的非线性、耦合等特性,采用分散控制策略,在关节空间设计强鲁棒性的自抗扰控制器对其进行控制.该自抗扰控制器由非线性跟踪微分器、扩张状态观测器、非线性PD和扰动补偿4部分组成.具有模型补偿功能的扩张状态观测器可以获得系统的状态估计和未知外扰的实时作用量,使系统性能得到有效补偿.该控制器以离散的形式进行设计,易于工程实现.仿真结果证明了所提出的控制策略具有强鲁棒性,跟踪性能良好.A distributed control strategy is used and a high robust auto-disturbance-rejection-controller（ADRC） is designed in joint space of robot to implement the high-precision trajectory tracking of 6-PRRS parallel robot. The ADRC is composed of nonlinear tracking differentiator（NTD） for feedforward control, an extended state observer （ESO）, a nonlinear proportional-derivative controller（NPD） in the feedback path and disturbance compensation. The ESO compensated by model provides the estimate of the unmeasured system＇s state and the real time action of the unknown disturbances, then improves the performance of the system. This ADRC is designed in distribute form and easily applied to engineering. The experimental results show the strong robustness and high tracking performence of this control strategy.

关 键 词：并联机器人 自抗扰控制器 非线性PD 轨迹跟踪控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]