基于自适应滑模-最优控制的柔性机械臂双时标组合控制  

Dual Time-scale Combined Control of Flexible Manipulators Based on Adaptive Sliding-mode and Optimal Control

作　　者：孙小通 马磊[1] 李梦雪 唐启超 侯天龙 SUN Xiaotong;MA Lei;LI Mengxue;TANG Qichao;HOU Tianlong(School of Electrical Engineering,Southwest Jiaotong University,Chengdu 611031,China)

机构地区：[1]西南交通大学电气工程学院,成都611756

出　　处：《噪声与振动控制》2020年第5期22-26,45,共6页Noise and Vibration Control

基　　金：国家自然科学基金联合基金资助项目(U1730105)。

摘　　要：为解决柔性机械臂的轨迹跟踪和振动抑制问题,提出基于自适应滑模控制与最优控制的组合控制方法。首先,以假设模态法描述机械臂振动模态,然后利用拉格朗日动力学方程建立柔性机械臂的动力学建模,进而利用奇异摄动法对系统模型解耦处理,得到其双时间尺度模型。对慢时间尺度动态,采用自适应滑模控制实现柔性机械臂的轨迹跟踪;基于快时间尺度模型设计线性二次型最优控制,实现振动抑制的目的;将快、慢时间尺度系统的控制器结合,构造出柔性机械臂的双时间尺度组合控制器,并在MATLAB/Simulink仿真中验证组合控制的可行性和有效性。In order to solving the problems of trajectory tracking and vibration suppression of flexible manipulators,a control method combining adaptive sliding mode with linear quadratic optimal control is proposed.Firstly,the hypothetical modal method is used to describe the vibration mode of the manipulator.Then,the Lagrange dynamic equation is used to establish the dynamic model of the flexible manipulator.The singular perturbation method is used to decouple the system dynamics,and the dual time scale model is obtained.The slow time scale dynamics is controlled using the adaptive sliding mode control to realize the trajectory tracking.The fast time-scale dynamics is handled by a linear quadratic optimal control for vibration suppression.Combining the fast time-scale dynamics with the slow time-scale dynamics,the dual-time-scale combined controller of the flexible manipulator is constructed.The feasibility and effectiveness of the dual time-scale combined controller is verified by MATLAB/Simulink simulation.

关 键 词：振动与波 柔性机械臂 奇异摄动法 自适应滑模 最优控制 

分 类 号：TH113.1[机械工程—机械设计及理论]