八自由度机械臂的轨迹跟踪控制  

Trajectory Tracking Control of Eight-DOF Manipulators

作　　者：覃艳明[1] 赵静一[1] 马金玉 王建军[1] QIN Yanming;ZHAO Jingyi;MA Jinyu;WANG Jianjun(School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei,066004)

机构地区：[1]燕山大学机械工程学院

出　　处：《中国机械工程》2019年第22期2741-2747,2756,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51675461)

摘　　要：针对机械臂电液伺服系统,通过扩张状态观测器对整个系统的不确定性和扰动进行观测,在此基础上设计了一种串级自抗扰控制器。基于线性矩阵不等式得到了系统的观测矩阵和控制矩阵,并利用Lyapunov稳定理论对整个闭环系统的稳定性进行了分析和证明。根据实际参数基于MATLAB软件进行了仿真,数值仿真结果证明了该方法的有效性,与传统前馈PID算法的对比仿真结果证明了该方法的优越性。通过实验对所设计的控制器的可行性进行了验证。The uncertainty and disturbance of the whole system were observed by the extended state observer for the mechanical electro-hydraulic servo system.Then,a cascade ADRC was designed.The observation matrix and control matrix of the system were obtained based on the linear matrix inequality,and the stability of the closed-loop system was analyzed and proved by Lyapunov stability theory.Based on the actual parameters,the simulation was carried out by MATLAB software.The numerical simulation results show the effectiveness of the proposed method.The comparison with the traditional feed-forward PID algorithm shows the superiority of the designed method.Finally,the feasibility of the proposed controller was verified by experiments.

关 键 词：轨迹跟踪 八自由度机器人 串级自抗扰控制器 液压位置伺服系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]