基于变增益自抗扰技术的机器人轨迹跟踪控制方法  

Path Tracking Control Method of Robot Based on Time-Varying Gain Active Disturbance Rejection Control

作　　者：张磊[1] 鲁凯 高春侠[1] 刘荣明 丁浩[1] 田伟[1] 洪伟[1] ZHANG Lei;LU Kai;GAO Chun-xia;LIU Rong-ming;DING Hao;TIAN Wei;HONG Wei(College of New Energy,China University of Petroleum(East China),Qingdao,Shandong 266580,China;Tianjin Branch of China National Offshore Oil Corporation,Tianjin 300459,China)

机构地区：[1]中国石油大学(华东)新能源学院,山东青岛266580 [2]中海石油(中国)有限公司天津分公司,天津300459

出　　处：《电子学报》2022年第1期89-97,共9页Acta Electronica Sinica

基　　金：国家自然科学基金重点项目(No.60534020,No.60775052);山东省优秀中青年科学家科研奖励基金(No.BS2010DX038)。

摘　　要：本文针对机器人轨迹跟踪控制精度和初始峰值问题,提出一种变增益自抗扰控制器轨迹跟踪控制方法.首先,采用跟踪微分器将逆运动学解处理为插值点区间,设定插值点选取规则及冲击力目标函数.然后,根据目标函数选取插值点拟合得到的轨迹曲线.最后,在考虑机器人动力学下设计轨迹跟踪控制器.仿真和实验结果表明,优化的方法冲击力减少39.8%,且电机能量消耗降低28.48%.设计的变增益自抗扰控制器轨迹跟踪控制可以准确地跟踪轨迹以及解决峰值问题.Aiming at the problem of robot trajectory tracking control accuracy and initial peak value,this paper pro⁃poses a variable gain active disturbance rejection controller trajectory tracking control method.First,the tracking differentia⁃tor is used to process the inverse kinematics solution into an interpolation point interval,set interpolation point selection rule and impact force objective function.Then,according to the objective function,the interpolation points are selected to fit the obtained trajectory curve.Finally,the trajectory tracking controller is designed considering the robot dynamics.Simu⁃lation and experimental results show that the optimized method reduces the impact force by 39.8%,and the energy consump⁃tion of the motor is reduced by 28.48%.The designed variable gain active disturbance rejection controller trajectory track⁃ing control can accurately track the trajectory and solve the peak problem.

关 键 词：关节机器人 轨迹规划 轨迹跟踪控制 自抗扰技术 

分 类 号：TM249[一般工业技术—材料科学与工程]