干扰观测器与滑模控制结合的机械臂跟踪控制  

Manipulator Trajectory Tracking Controller by Combining Disturbance Observer and Sliding Mode Control

作　　者：周名侦[1] 廖志青 ZHOU Ming-zhen;LIAO Zhi-qing(Guangdong Communication Polytechnic,Guangdong Guangzhou 510800,China;Guangzhou College of South China University of Technology,Guangdong Guangzhou 510800,China)

机构地区：[1]广东交通职业技术学院,广东广州510800 [2]华南理工大学广州学院,广东广州510800

出　　处：《机械设计与制造》2021年第12期215-219,共5页Machinery Design & Manufacture

基　　金：广东省船舶自动化工程技术研究中心项目(粤科产学研字[2016]);广东交通职业技术学院科研基金项目(201703)。

摘　　要：为了提高机械臂轨迹跟踪的精度和速度,提出了干扰观测器与非线性滑模控制相结合的轨迹跟踪控制方法。建立了机械臂动力学模型,设计了机械臂轨迹跟踪控制方案。将机械臂受到的扰动分为可观测部分和不可观测部分,对于可观测部分,设计了干扰观测器用于估计扰动大小,依据扰动观测值对控制力矩进行补偿,主动消除可观测部分扰动的影响;对于不可观测部分,设计了非线性滑模控制器,用于减小不可观测扰动造成的跟踪误差与抖动。经仿真验证,与传统滑模控制和非线性滑模控制相比,干扰观测器与非线性滑模控制相结合的轨迹跟踪误差减小了一个数量级以上,且跟踪速度最快。In order to improve manipulator trajectory tracking accuracy and speed,trajectory tracking method by combining disturbance observer and nonlinear sliding mode control is proposed. Dynamic model of manipulator is built, and manipulator trajectory tracking control project is designed. disturbance on manipulator is divided to observable part and unobservable part. For observable part,disturbance observer is designed to estimate size of the disturbance,and control moment is compensated depending on disturbance observed value,which can eliminate effect of observable part on manipulator tracking. For unobservable part,nonlinear sliding mode controller is designed to reduce tracking error and shaking caused by disturbance unobservable part. Clarified by simulation,compared with traditional sliding mode control and nonlinear sliding mode control,trajectory tracking error controlled by combining disturbance observer and nonlinear sliding mode control reduces by more than an order of magnitude,and tracking is the fastest.

关 键 词：机械臂 轨迹跟踪 干扰观测器 非线性滑模控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]