采用非线性干扰观测器的机械臂补偿型滑模控制  

Compensated Sliding Mode Control of Manipulator Arm Using Nonlinear Disturbance Observer

作　　者：曾伟鹏 邵辉[1,2] 洪雪梅[1,2] 聂卓赟[1,2] 郭东生[1,2] ZENG Weipeng;SHAO Hui;HONG Xuemei;NIE Zhuoyun;GUO Dongsheng(Collage of Information Science and Engineering,Huaqiao University,Xiamen 361021,China;Fujian Engineering Research Center of Motor Control and System Optimal Schedule,Huaqiao University,Xiamen 361021,China)

机构地区：[1]华侨大学信息科学与工程学院,福建厦门361021 [2]华侨大学福建省电机控制与系统优化调度工程技术研究中心,福建厦门361021

出　　处：《华侨大学学报（自然科学版）》2020年第4期415-422,共8页Journal of Huaqiao University(Natural Science)

基　　金：国家自然科学基金资助项目(61603143);福建省自然科学基金资助项目(2019J01053);福建省泉州市科技计划项目(2017T001)。

摘　　要：针对机械臂系统中存在的内外复合不确定性干扰问题,提出一种非线性干扰观测器补偿型滑模控制策略.在非线性干扰观测器设计过程中,引入辅助函数,避免加速度反馈测量项;同时实现对复合不确定性干扰的准确估计,用以补偿系统的控制输入,克服系统的“抖振”现象.在滑模控制策略方面,基于传统方法对惯性矩阵项进行调整的基础上,引入跟踪误差对模型离心力和哥氏力项进行调整,提高系统鲁棒性和稳定性.结果表明:两者结合能够最大限度地降低系统不确定性及外界干扰对机械臂控制性能的影响,在抑制抖振的同时增强系统的鲁棒性,提高轨迹跟踪精度.Focusing on the internal and external complex uncertainties in the manipulator system,a compensated sliding mode control strategy based on nonlinear disturbance observer is proposed.For the design of the nonlinear disturbance observer,the auxiliary function is introduced to avoid the feedback of measured acceleration.The observer achieves an accurate estimation of the composite uncertainties interference,andat the same time compensates the control input of the system,which overcomes the“chattering”of the system.In the sliding mode control strategy,based on the traditional method to adjust the inertia matrix items,the tracking error is introduced to adjust the model centrifugal force and Coriolis force terms to improve the system robustness and stability.The results show:combination of both,it can minimize the influence of system uncertainty and external interference on the control performance of the mechanical arm,while suppressing chattering,enhance the robustness of the system and improve the trajectory tracking accuracy.

关 键 词：机械臂 非线性干扰观测器 补偿型滑模控制 动力学系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]