基于线性扩张状态观测器的机械臂变负载滑模控制  

Variable Load Sliding Mode Control for Manipulator Based on Linear Extended State Observers

作　　者：黄建中[1,2] 岑豫皖[2] 叶小华[2] 包家汉[2] HUANG Jianzhong;CEN Yuwan;YE Xiaohua;BAO Jiahan(School of Mechanical Engineering,Hefei University of Technology,Hefei Anhui 230009,China;Engineering Technology Research Center of Hydraulic Vibration Technology,Anhui Provice,Anhui University of Technology,Maanshan Anhui 243002,China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009 [2]安徽工业大学液压振动技术安徽省工程技术研究中心,安徽马鞍山243002

出　　处：《机床与液压》2021年第13期45-50,共6页Machine Tool & Hydraulics

基　　金：安徽省科技重大专项计划项目(201903a05020029);安徽省教育厅高校自然科学研究项目(KJ2017A049)。

摘　　要：大型串联机械臂液压控制系统存在变负载及外干扰问题,机械臂不同工作姿态的等效质量会造成液压缸系统固有频率变化,影响系统动态特性,为此提出一种基于线性扩张状态观测器的滑动模态控制策略(LESOSMC)。以破拆机器人机械臂为研究对象,仿真试验结果表明:LESOSMC在机械臂处于不同姿态时,保持了很好的动态特性和稳态精度,对周期正弦信号也具有良好的跟踪性能。LESOSMC在机械臂变负载控制中具有良好的鲁棒性,满足重载液压机械臂关节位置控制的要求,为解决液压重载机械臂关节液压缸的位置控制提供了有效的工程方法。The problems of variable load and external interference exist in the hydraulic control system of large series manipulator.The equivalent mass of the manipulator with different working posture will cause change of the natural frequency of the hydraulic cylinder system and affect the dynamic characteristics of the system.Therefore,a sliding mode control strategy based on the linear extended state observer(LESOSMC)was proposed.The research object was the demolition robot manipulator.The simulation results show that LESOSMC has good dynamic characteristics and steady-state accuracy when the manipulator is in different posture,and has good tracking performance for periodic sinusoidal signal.LESOSMC has good robustness in variable load control of the manipulator,which meets the requirements to joint position control of the heavy-duty hydraulic manipulator.It provides an effective engineering method for solving the joint position control of the hydraulic cylinder of the heavy-duty hydraulic manipulator.

关 键 词：破拆机器人 变负载控制 线性扩张状态观测器 滑动模态控制 

分 类 号：TM383[电气工程—电机]