执行器饱和约束下机器人手臂的最优容错控制  

Optimal fault-tolerant control for robot arm under actuator saturation constraint

作　　者：雷根平[1] 王艳丽 LEI Genping;WANG Yanli(School of Information Engineering,Henan Mechanical and Electrical Vocational College,Zhengzhou 451191,China;School of Software,Henan University of Science and Technology,Luoyang 471003,China)

机构地区：[1]河南机电职业学院信息工程学院,郑州451191 [2]河南科技大学软件学院,洛阳471003

出　　处：《现代制造工程》2022年第3期29-34,共6页Modern Manufacturing Engineering

基　　金：河南省科技攻关项目(212102210058)。

摘　　要：为了提高机器人手臂系统在饱和约束和电机故障下的控制精度,提出了一种最优容错控制策略。首先建立了机器人手臂故障模型,然后设计了故障观测器对故障值进行估计,并提出包含电机故障与饱和约束的性能指标,最终利用神经网络准确估计出性能指标,从而得到了最优容错控制策略。MATLAB环境下仿真结果表明,所设计的最优容错控制策略与自适应容错控制方法相比具有更优的控制效果,能够在0.2 s内稳定跟踪指令信号,最大跟踪误差仅为0.9°,同时输出力矩始终满足饱和约束要求,所设计的故障观测器能够在0.2 s内准确估计出故障值,最大估计误差仅为0.2 N·m,大幅提高了机器人手臂系统的控制精度。To improve the control accuracy of robot arm system under saturation constraint and motor failure,an optimal fault-tolerant control strategy was proposed.Firstly,the fault model of the robot arm was established.Then,a fault observer was designed to estimate the fault value,and the performance index including motor fault and saturation constraint was proposed.Finally,the neural network was used to estimate the performance index accurately,and the optimal fault-tolerance control strategy was obtained.The simulation results in MATLAB environment show that compared with the adaptive fault-tolerant control method,the designed optimal fault-tolerant control strategy has better control effect,which can track the command signal stably in 0.2 s,the maximum tracking error is only 0.9°and the output torque always meets the saturation constraint requirements.The designed fault observer can accurately estimate the fault value within 0.2 s,and the maximum estimation error is only 0.2 N·m,which greatly improves control accuracy of robot arm system.

关 键 词：机器人手臂 执行器饱和约束 电机故障 故障观测器 最优容错控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]