柔性机械臂的多时间尺度滑模控制  

Sliding-mode Control of Flexible Manipulators in Multiple Time Scales

作　　者：史超[1] SHI Chao(Jiangsu Automation Research Institute,Lianyungang 222061,China)

机构地区：[1]江苏自动化研究所,江苏连云港222061

出　　处：《控制工程》2020年第9期1560-1565,共6页Control Engineering of China

基　　金：国家自然科学基金(61773384);国家重点研发计划重点专项(2018YFB1309100)。

摘　　要：在多时间尺度下,研究带有扰动及系统不确定性的柔性机械臂的运动控制问题。由于柔性机械臂具有多时间尺度特性,应用传统方法设计控制器容易导致病态数值问题,基于奇异摄动理论,将柔性机械臂建模为带有奇异摄动参数的奇异摄动系统并将其分解为描述刚体运动和柔性振动的快、慢子系统。慢时间尺度下,考虑外界扰动及参数不确定性对系统影响,设计带有扰动观测器的自适应滑模控制器(慢控制器)实现对柔性机械臂的轨迹跟踪。快时间尺度下,为消除未建模动态及慢时间尺度下振动状态等对控制器设计影响,设计鲁棒滑模控制器(快控制器)实现对柔性振动抑制。最后,利用奇异摄动理论将慢控制器与快控制器组合,实现轨迹跟踪和振动抑制的双重控制目标。实验结果表明该方法鲁棒性强控制效果好。In this paper,the problem of the motion control of flexible manipulators with disturbances and system uncertainties is studied in multiple time scales.Due to the multi time scale characteristics of flexible manipulator,it is easy to lead to ill conditioned numerical problems when using traditional methods to design controllers.Based on singular perturbation theory,the flexible manipulator is modeled as a singular perturbation system with singular perturbation parameters.And then it is decomposed into slow and fast subsystems which describe rigid motion and flexible vibration separately.In the slow time scale,considering the influence of external disturbance and parameter uncertainty,an adaptive sliding mode controller(slow controller)with a disturbance observer is designed to track the trajectory of the flexible manipulator.In the fast time scale,in order to eliminate the influence of system uncertainties such as un-modeled dynamics and vibration in slow time scale on the controller design,a robust sliding mode controller(fast controller)is designed to suppress the vibration of the flexible manipulator.Finally,the singular perturbation theory is used to combine the slow and fast controller to achieve the dual control objectives of tracking the desired position while suppressing the vibration.The experimental results show that the method proposed in this paper is robust and effective.

关 键 词：柔性机械臂 多时间尺度 滑模控制 外界扰动 系统不确定性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]