柔性关节机械臂的非线性控制策略研究  

Research of Nonlinear Control Strategy for Manipulator with Flexible Joints

作　　者：王海[1,2] 周璇[1,2] 夏小品[1,2] 李晗[1,2] 

机构地区：[1]安徽工程大学机械与汽车工程学院,芜湖241000 [2]安徽省重点实验室先进数控及伺服技术实验室,芜湖241000

出　　处：《机械科学与技术》2014年第1期22-26,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51175001;51275001);安徽省自然科学研究计划项目(KJ2012A033)资助

摘　　要：针对外部干扰情况下的柔性关节机械臂非线性动力学模型,提出一种基于反演设计思想的递阶控制策略。把电机的输出角度向量作为关节子系统的控制变量,设计虚拟电机角度向量实现关节轨迹跟踪,同时在反演正定函数中综合积分项消除轨迹跟踪误差。计算实际的关节电机输出力矩,使电机输出角度跟踪虚拟控制量,通过设计自适应滑模变结构控制器消除系统不确定因素的影响。基于李雅普络夫稳定性理论证明系统的稳定性和轨迹跟踪误差的收敛性。A backstepping sliding mode control strategy was proposed for the control of nonlinear dynamic system of a robot manipulator with flexible joints with external disturbance. The controller took the output angle vector of motor as control variables of joint＇s subsystem to realize the tracking trajectory control with angle vector of virtual machine, while the trajectory error was eliminated by comprehensive integral item in inversion stabilization function. The actual output torque was calculated thus the output angle of motor can track the virtual control volume, and the influence of system uncertainty was eliminated by design an adaptive sliding mode variable structure controller. The stability of the system and the convergence of trajectory tracking error were certified based on Lyapunov stability theory.

关 键 词：柔性关节机械臂 反演控制 李雅普络夫法 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]