基于奇异摄动理论的机器人关节控制研究  

Control of robot joint based on singular perturbation theory

作　　者：夏杭 段现银 闵华松 黄文晖 吴修玉 Xia Hang;Duan Xianyin;Min Huasong;Huang Wenhui;Wu Xiuyu(Key Laboratory of Metallurgical Equipment and Control of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China;School of Mechatronics and Automation,Wuchang Shouyi University,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,湖北武汉430081 [2]武汉科技大学机器人与智能系统研究院,湖北武汉430081 [3]武昌首义学院机电与自动化学院,湖北武汉430064

出　　处：《武汉科技大学学报》2021年第2期140-145,共6页Journal of Wuhan University of Science and Technology

基　　金：国家自然科学基金资助项目(52005201);“十三五”国家重点研发计划项目(2017YFB1300405);武汉科技大学国防预研基金项目(GF201914).

摘　　要：针对机器人柔性关节存在位置控制精度低的问题,在考虑关节内部非线性摩擦和外界扰动等因素的情况下,建立柔性关节动力学模型,提出基于奇异摄动理论的干扰观测器滑模控制方法,利用该控制方法对关节控制系统进行Lyapunov稳定性分析和MATLAB仿真。结果表明,基于奇异摄动理论的干扰观测器滑模控制方法能够减小关节内部非线性摩擦和外界扰动对柔性关节位置和速度控制精度的影响;与传统的PD控制方法和未采用干扰观测器的控制方法相比,该控制方法能够缩短关节控制系统调节时间,且超调量低,能有效抑制关节振动和提高系统的控制精度。Aimed at low position control precision of robot flexible joints and considering factors such as nonlinear friction of joint internal and external disturbances,the dynamic model of flexible joints was established and the sliding mode control method of disturbance observer based on singular perturbation theory was proposed.Lyapunov stability analysis and MATLAB simulation of joint control system were carried out by using this control method.The results show that the disturbance observer sliding mode control method based on singular perturbation theory can reduce the influence of internal nonlinear friction and external disturbance on the position and velocity control accuracy of flexible joints.Compared with the traditional PD control method and the control method without disturbance observer,the sliding mode control method can shorten the adjustment time of the joint control system and reduce the overshoot.It can effectively restrain joint vibration and improve the control precision of the system.

关 键 词：机器人 柔性关节 滑模控制 奇异摄动理论 干扰观测器 关节控制 仿真 

分 类 号：TH16[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]