基于液压伺服系统的机械臂位置自抗扰控制研究  

Research on Position ADRC of Manipulator with Hydraulic Servo System

作　　者：林希[1] LIN Xi(Shaanxi Polytechnic Institute,Institute of Mechanical Engineering,Xianyang 712000,China)

机构地区：[1]陕西工业职业技术学院机械工程学院,陕西咸阳712000

出　　处：《液压气动与密封》2020年第12期63-68,共6页Hydraulics Pneumatics & Seals

基　　金：机械破碎强化污泥发酵与剩余污泥碳源快速回收技术研究(2018k02-32)。

摘　　要：鉴于传统串联式关节伺服电机驱动的机械臂负载能力小,机械臂末端误差累计大,该文设计了一种基于液压缸伺服驱动的串联式机械臂。针对液压缸非线性、摩擦力、以及抗干扰等因素的影响,提出了位置自抗扰控制(ADRC)算法,提高了机械臂位置精度及系统抗干扰能力。首先,设计了串联机械设计原理示意图,并介绍了控制要求;其次,以机械臂为研究对象,建立机械臂D-H坐标系,分析了机械臂的运动学;再次,就机械臂液压缸位置伺服系统设计了基于ADRC的高精度位置伺服控制算法;再次利用AMESim-MATLAB软件搭建机械臂仿真模型,并对比常规PID与ADRC算法对机械臂位置控制精度的影响;最后搭建实际机械臂液压缸位置跟踪控制实验平台,实验结果表明基于ADRC算法位置伺服控制精度高,提高了系统抗干扰能力,为今后实际机械臂位置高精度控制提供理论依据。In view of the small load capacity of the manipulator driven by the traditional series joint servo motor and the large accumulated error at the end of the manipulator,this paper designs a series manipulator based on the hydraulic cylinder servo drive.In view of the nonlinear,friction and anti-interference factors of the hydraulic cylinder,the ADRC algorithm is proposed to improve the position accuracy of the manipulator and the anti-interference ability of the system.First of all,the design schematic diagram of the serial mechanism is designed,and the control requirements are introduced;secondly,the manipulator is taken as the research object,the D-H coordinate system of the manipulator is established,and the kinematics of the manipulator is analyzed;thirdly,the high-precision position servo control algorithm based on ADRC is designed for the position servo system of the hydraulic cylinder of the manipulator;thirdly,the simulation model of the manipulator is built by AMESim MATLAB software At last,the experiment platform of the position tracking control of the actual manipulator hydraulic cylinder is built.The experiment results show that the position servo control based on ADRC algorithm has high precision,improves the anti-interference ability of the system,and provides the theoretical basis for the future high-precision position control of the actual manipulator.

关 键 词：液压机械臂 位置自抗扰控制 位置伺服 AMESim-MATLAB 

分 类 号：TH137[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]