多关节移动机械臂系统的快速终端滑模控制  

Fast terminal sliding mode control for multi-joint mobile manipulator system

作　　者：彭伟[1] 雷辉[2] PENG Wei;LEI Hui(School of Mechanical and Electrical Engineering,Henan Polytechnic,Zhengzhou 450046,China;School of Mechanical and Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)

机构地区：[1]河南职业技术学院机电工程学院,郑州450046 [2]河南工业大学机电工程学院,郑州450001

出　　处：《现代制造工程》2021年第10期79-84,共6页Modern Manufacturing Engineering

基　　金：河南省科技攻关项目(182102210150)。

摘　　要：为了实现多关节移动机械臂系统在机械摩擦和模型误差等干扰下的精确控制,提出了快速终端滑模控制方法。首先建立了移动机械臂系统动力学和运动学模型,然后设计了运动环控制律,并将移动机械臂系统的运动指令转换为动力指令,最后针对动力环设计了快速终端滑模控制律,并通过自适应神经网络进行干扰估计,实现了对多关节移动机械臂系统的精确控制。仿真实验结果表明,提出的方法具有更好的快速性和准确性,移动平台的最大跟踪误差仅为0.8 cm,关节末端的最大跟踪误差仅为0.3 cm,干扰估计的最大误差为0.2 N·m,控制效果和精度均得到了明显的提升。In order to realize the precise control of multi-joint mobile manipulator system under the disturbance of mechanical friction and model error,a fast terminal sliding mode control method was proposed.Firstly,the dynamic and kinematic models of the mobile manipulator were established,then the motion loop control law was designed to convert the motion command of the mobile manipulator system into the dynamic command.Finally,a fast terminal sliding mode control law was designed for the dynamic loop,and the disturbance was estimated by the adaptive neural network,which realizes the precise control of the multi-joint mobile manipulator system.The simulation results show that the proposed method has better rapidity and accuracy,the maximum tracking error of mobile platform is only 0.8 cm,the maximum tracking error of joint end is only 0.3 cm,and the maximum error of interference estimation is 0.2 N·m,and the control effect and accuracy are significantly improved.

关 键 词：多关节移动机械臂系统 机械摩擦 模型误差 快速终端滑模控制 干扰估计 

分 类 号：TH39[机械工程—机械制造及自动化]