喷砂除锈并联机器人模糊自适应滑模控制  

Fuzzy Adaptive Sliding Mode Control of Sandblasting and Rust Removal Parallel Robot

作　　者：高航 高国琴[1] 方志明[1] GAO Hang;GAO Guo-qing;FANG Zhi-ming(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013

出　　处：《软件导刊》2021年第10期109-116,共8页Software Guide

基　　金：国家自然科学基金项目(51375210);镇江市重点研发计划项目(GZ2018004)。

摘　　要：为克服喷砂除锈并联机器人Stewart并联机构摩擦力突变带来的轨迹跟踪畸变问题,设计一种补偿摩擦力突变的模糊自适应滑模控制方法。首先采用解析法对机构进行运动学分析,并基于拉格朗日法建立Stewart并联机构动力学模型;其次基于滑模变量设计滑模鲁棒自适应项实时估计不确定项,替换滑模控制的切换项,以补偿未建模动力学、外部干扰和时变参数等不确定因素的影响,同时有效抑制滑模控制抖振;然后通过基于滑模变量与滑模变量导数设计模糊控制,实现对滑模鲁棒自适应项增益的动态调节,以补偿摩擦力突变干扰,从而消除Stewart并联机构关节换向时的轨迹跟踪畸变;最后采用MATLAB对控制方法进行数值仿真,验证所提出补偿摩擦力突变模糊自适应滑模控制方法的有效性。结果表明,该控制方法能有效抑制滑模控制抖振,消除轨迹跟踪畸变,实现喷砂除锈并联机器人高性能运动控制。In order to overcome the trajectory tracking distortion caused by the friction mutations of the sandblasting and rust removal parallel robot based on the Stewart parallel mechanism,a fuzzy adaptive sliding mode control method that compensates for the friction mutations is designed.Firstly,the kinematics of the mechanism is analyzed by analytic method and the dynamic model of the Stewart parallel mechanism is established based on Lagrange method.Then,the robust adaptive term of the sliding mode is designed based on the sliding mode variable to estimate the uncertain term in real time,replacing the sliding switching items of mode control to compensate for the influence of uncertain factors such as unmodeled dynamics,external disturbances and time-varying parameters,and to effectively suppress chattering of sliding mode control;Next,by designing fuzzy control based on sliding mode variable and sliding mode variable derivative,the dynamic adjustment of the sliding mode robust adaptive term gain is realized to compensate for the interference of the frictional force mutation,thereby eliminating the trajectory tracking distortion problem of the Stewart mechanism joint commutation;Finally,using MATLAB control method for numerical simulation and verify the effectiveness of the proposed fuzzy adaptive sliding mode control method to compensate for friction mutations.The results show that the proposed control method can effectively suppress the chattering of sliding mode control,and eliminate the trajectory tracking distortion,so as to realize the high-performance motion control of parallel robot for sand blasting and rust removal.

关 键 词：喷砂除锈并联机器人 关节摩擦力突变 鲁棒自适应 模糊控制 STEWART并联机构 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]