基于逆动力学的机械臂鲁棒位置控制方法的设计  

Design of robust position control method for manipulator based on inverse dynamics shift

作　　者：段纯[1] 顾建华[2] DUAN Chun;GU Jianhua(Electrical and Mechanical Information Department,Anhui Vocational College of Press and Publish,Hefei 230601,Anhui,China;School of Mechanical and Electrical Engineering,Yancheng Vocational Institute of Industry Technology,Yancheng 224005,J iangsu,China)

机构地区：[1]安徽新闻出版职业技术学院机电信息系,安徽合肥230601 [2]盐城工业职业技术学院机电工程学院,江苏盐城224005

出　　处：《中国工程机械学报》2020年第3期242-247,共6页Chinese Journal of Construction Machinery

基　　金：安徽高校自然科学研究重点资助项目(KJ2017A873)。

摘　　要：机械臂的位置控制准确度有利于提高机械臂工作的可靠性,为了提高机械臂工作过程中对位置控制的平稳性、快速性、准确性和鲁棒性,设计了一种基于逆动力学的机械臂鲁棒位置控制方法。通过对机械臂的电机系统进行分析,获取电机系统的动力学函数。利用转矩到位置转换方法和反演滑模控制方法,设计了一种逆动力学控制器,通过将滑模控制方法与反演控制方法相结合,形成反演滑模控制方法,获取电机转矩控制函数,以提高系统的鲁棒性能。利用转矩到位置转换方法,将获取的电机转矩与电机的当前位置信息相结合,用以求取机械臂的位置控制量,以实现对机械臂的位置进行快速、稳定、准确的控制。利用Matlab/Simulink软件对所设计的机械臂位置控制方法进行了实验验证。验证结果表明:所设计方法不仅能够快速、稳定、准确地对机械臂的位置进行控制,而且设计方法还具有较强的鲁棒性能,能够适应多种激励信号产生位置控制信息。The position control accuracy of the manipulator can be used to improve the reliability of the manipulator,in order to improve the stability,rapidity,accuracy and robustness of position control in the working process of manipulator,a robust position control method of manipulator based on inverse dynamics is designed in this paper.Through the analysis of the motor system of the manipulator,the dynamic function of the motor system is obtained.An inverse dynamic controller is designed by using the torque-to-position conversion method and the inverse sliding mode control method.By combining the sliding mode control method and the inverse sliding mode control method,the inverse sliding mode control method is formed,and the motor torque control function is obtained to improve the robustness of the system.Torque-to-position conversion method is used to combine the acquired motor torque with the current position information of the motor in order to obtain the position control quantity of the manipulator so as to realize the fast,stable and accurate control of the position of the manipulator.The position control method of the manipulator is validated by using Matlab/Simulink software.The results show that the design method can not only control the position of the manipulator quickly,stably and accurately,but also has strong robustness and can adapt to various excitation signals to generate position control information.

关 键 词：位置控制 机械臂 动力学函数 反演滑模控制方法 转矩到位置转换方法 逆动力学 

分 类 号：U463[机械工程—车辆工程]