存在基础振动的物料搬运机时间最优控制  

Time-Optimal Control of Material Transfer Manipulators with Base Oscillation

作　　者：梅瑞麟 郭宇飞[1,2] 王志刚 郝志强[1] MEI Rui-lin;GUO Yu-fei;WANG Zhi-gang;HAO Zhi-qiang(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 Systems,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：《包装工程》2021年第15期182-188,共7页Packaging Engineering

基　　金：国家自然科学基金(51605344);国家留学基金委国家奖学金(201908420154);中国博士后科学基金(2016M592398)。

摘　　要：目的探讨存在基础振动情况下,物料搬运机的时间最优定位控制问题。方法使用第2类Lagrange方法建立系统的动力学方程,设计一种基于隐式Lyapunov函数的时间最优控制器。结合时间最优稳定性引理,采用Lyapunov理论证明了所提控制算法能使定位误差在最优时间内收敛到原点。结果控制器增益表现为连续时变的PD型控制,当系统状态变量逐渐趋于0时,控制器增益作为系统状态变量的可微函数逐渐趋于无穷大。结论数值仿真显示,该控制器能克服基础振动影响,使物料搬运机快速机动到指定位置,具有时间最优特性和较强的抗干扰性。The time-optimal positioning control of a material transfer manipulators are analyzed in consideration of base oscillation.The second Lagrange method is used to establish the dynamic equation of the system,and a time-optimal controller based on implicit Lyapunov function is designed.Combined with the time-optimal stability lemma,Lyapunov theory is used to prove that the proposed control algorithm makes the positioning error converge to the origin in the finite time.The controller gain is continuous time-varying PD control.When the system state variable gradually approaches zero,the controller gain,as a differentiable function of the system state variable,gradually approaches infinity.The simulation results show that the controller can overcome the influence of base oscillation,and make the material transfer manipulators move to the specified position quickly with the time-optimal characteristics and anti-interference ability.

关 键 词：基础振动 时间最优控制 定位控制 隐式Lyapunov函数 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3