多自由度机械臂的智能控制策略设计研究  

Design and Research of Intelligent Control Strategy for Multi-DOF Manipulator

作　　者：张念猛 程雅琳 张艳 Zhang Nianmeng;Cheng Yalin;Zhang Yan(College of Mechanical Engineering,Shandong Engineering Vocational and Technical University,Ji’nan Shandong,250200)

机构地区：[1]山东工程职业技术大学机械工程学院

出　　处：《电子测试》2019年第22期49-50,88,共3页Electronic Test

摘　　要：动态变化的模型参数与无法预知的噪声干扰,使得现有控制策略难以满足多自由度机械臂的控制要求,为此,提出改进滑模自适应的智能控制策略。基于其动力方程分析导致控制误差的原因,设计具有误差调整的扰动数学模型。为了避免非奇异性与收敛性带来的误差影响,设计积分滑模面,为了防止非连续项带来的误差影响,设计双幂次逼近滑模。通过仿真实验,验证提出的改进滑模控制策略具有良好的控制精度与自适应能力,显著提高多自由度机械臂的控制稳定性与控制速度,并且获得良好的抗未知扰动的能力。Dynamic model parameters and unpredictable noise disturbances make the existing control strategies difficult to meet the control requirements of multi-degree-of-freedom manipulators. Therefore, an improved sliding mode adaptive intelligent control strategy is proposed. Based on the analysis of its dynamic equation, the disturbance mathematical model with error adjustment is designed. In order to avoid the error effect caused by nonsingularity and convergence, integral sliding surface is designed, and double power approximation sliding mode is designed to avoid the error effect caused by discontinuity. The simulation results show that the proposed improved sliding mode control strategy has good control accuracy and adaptability, significantly improves the control stability and speed of the multi-degree-of-freedom manipulator, and achieves good anti-unknown disturbance ability.

关 键 词：多自由度机械臂 改进滑模控制 扰动模型 非奇异性 双幂次逼近 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]