基于分段PD控制的振动基弹药传输机械臂轨迹跟踪控制  

Trajectory tracking control of a vibration-based ammunition transmission manipulator based on piecewise PD control

作　　者：席宝成 郭宇飞[1,2] 王志刚 郝志强[1] XI Baocheng;GUO Yufei;WANG Zhigang;HAO Zhiqiang(Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent System,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,武汉430081 [2]武汉科技大学机器人与智能系统研究院,武汉430081

出　　处：《振动与冲击》2021年第4期283-292,共10页Journal of Vibration and Shock

基　　金：国家自然科学基金(51605344);中国博士后科学基金(2016M592398)。

摘　　要：针对一种新型带振动底座的弹药传输机械臂的轨迹跟踪控制问题,设计一种鲁棒控制器。阐明了弹药传输机械臂的工作原理以及三维模型,利用第二类拉格朗日方法建立了弹药传输机械臂动力学模型。在控制力范数有界的假设下,基于分段线性控制算法以及计算力矩法,设计了反馈控制器。控制律表现为增益可变的比例微分控制,在动态过程中,控制器增益根据系统当时状态偏差以阶跃方式按设定规律作相应改变,当系统接近或达到终端状态时,控制器的增益趋于动态平衡状态。控制力输入总是满足给定的约束条件。采用龙格库塔法在MATLAB环境下进行数值仿真。结果表明,该控制器能很好地抑制基座的振动以及载荷不确定性带来的影响,满足自动装弹机的精确快速轨迹跟踪控制,具有良好的鲁棒性。A robust controller was designed for trajectory tracking control of a new type of ammunition transmission manipulator with vibration base.Firstly,the working principle and a three-dimensional model of the ammunition transmission manipulator were expounded,and a dynamic model of the automatic loader was established by using the second Lagrange method.Secondly,under the assumption that the control force norm is bounded,a feedback controller was designed based on a piecewise linear control algorithm and a computational moment method.The control law was expressed as a proportional differential control with variable gain.In the dynamic process,the controller gain was changed by a step form based on the setting law according to the state deviation of the system at the current state.When the system approaches or reaches the terminal state,the controller gain tends to dynamic equilibrium.The input of control force always satisfies the given constraints.Finally,numerical simulation was carried out in the MATLAB environment using the Runge-Kutta method.The results show that the controller can suppress the vibration of the base and the influence of load uncertainty,satisfy the precise and fast trajectory tracking control of the automatic loader,and has good robustness.

关 键 词：弹药传输机械臂 振动基座 载荷不确定性 轨迹跟踪 计算力矩法 分段线性反馈控制 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3