弹药传输机械臂固定时间终端滑模控制  

Fixed⁃time terminal sliding mode control for ammunition transfer manipulator

作　　者：姚来鹏 侯保林[1] YAO Laipeng;HOU Baolin(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《哈尔滨工业大学学报》2021年第1期109-116,共8页Journal of Harbin Institute of Technology

基　　金：国家重点基础研究发展规划项目(973-61324901);国家自然科学基金(51605344)。

摘　　要：为提高坦克弹药传输机械臂在路面激励等外界扰动下位置控制的鲁棒性,设计一种固定时间终端滑模控制器(fixed⁃time terminal sliding mode controller,FTSMC).推导含垂直基础振动的弹药传输机械臂动力学方程,将系统的基础振动处理成干扰项.采用新型固定时间收敛干扰观测器对系统不确定项进行补偿,改善了控制器的鲁棒性.结合固定时间收敛双幂次趋近律和固定时间终端滑模面设计固定时间终端滑模控制器.用Lyapunov理论证明了系统固定时间收敛特性.3种工况下的对比实验表明,设计的复合控制器对不确定性干扰具有强鲁棒性,能够对外界扰动下的弹药传输机械臂进行准确定位控制.To improve the robustness of position control of tank ammunition transfer manipulator under external disturbance such as road excitation,a fixed⁃time terminal sliding mode controller(FTSMC)was designed.Firstly,the dynamic model of the ammunition transfer manipulator with basic vibration was established,and the basic vibration of the system was processed into the model uncertain disturbance term.Then a new fixed⁃time convergence disturbance observer was designed to compensate the uncertainties of the system model and enhance the robustness of the controller,and a fixed⁃time terminal sliding mode controller was designed based on the fixed⁃time convergence double power reaching law and the fixed⁃time non⁃singular fast terminal sliding mode control surface.Finally,the fixed time convergence stability of closed⁃loop systems was proved by Lyapunov method.The comparison experimental results under three working conditions show that the designed composite controller is robust to model uncertain disturbance,and the accurate positioning of the ammunition transfer manipulator is realized.The experimental results verify the correctness and effectiveness of the algorithm in practical engineering applications.

关 键 词：机械臂 固定时间控制 干扰观测器 双幂次趋近律 终端滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]