平面欠驱动柔性机械臂的PSO轨迹优化与自抗扰振动抑制  

PSO-based trajectory optimization and active disturbance rejection vibration suppression of a planar underactuated flexible manipulator

作　　者：潘昌忠[1] 罗晶 李智靖 熊培银[1] 陈君[1] PAN Changzhong;LUO Jing;LI Zhijing;XIONG Peiyin;CHEN Jun(School of Information and Electrical Engineering,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]湖南科技大学信息与电气工程学院,湖南湘潭411201

出　　处：《振动与冲击》2022年第14期181-189,共9页Journal of Vibration and Shock

基　　金：国家自然科学基金(62173138);湖南省教育厅资助科研项目(20A186);湖南省自然科学基金(2020JJ4314)。

摘　　要：针对平面单连杆柔性机械臂(planar single-link flexible manipulator,PSLFM)的振动抑制及稳定控制问题,提出一种基于粒子群优化(particle swarm optimization,PSO)算法的轨迹优化与自抗扰控制方法,实现机器人末端执行器从任意初始位置移动到目标位置,并且抑制住由柔性连杆引起的弹性振动。首先,基于假设模态法建立柔性机械臂的动力学模型,并对该模型的欠驱动特性进行分析,得到驱动变量与欠驱动变量之间的状态约束关系。其次,基于该约束关系,运用双向轨迹规划方法为驱动变量分别规划一条前向轨迹和一条反向轨迹。然后,采用粒子群算法对轨迹参数进行优化,确保两条轨迹平滑地拼合成一条完整轨迹。最后,设计自抗扰跟踪控制器使机械臂存在外部扰动和角速度不可测情况下精确地跟踪优化的轨迹,实现机械臂的振动抑制与稳定控制。仿真与对比结果表明,所提控制方法具有更好的振动抑制效果及鲁棒性。To address the problem of vibration suppression and stable control of a planar single-link flexible manipulator(PSLFM),the methods of particle swarm optimization(PSO)and active disturbance rejection control were proposed to move accurately the end effector from any initial position to the target position,and restrain the elastic vibration caused by the flexible connecting rod.Firstly,the dynamic model of the PSLFM was established based on the assumed mode method,and the underactuated characteristic of the model was analyzed to obtain the state constraint relationship between the actuated variable and the underactuated variable.Based on the constraint relationship,a bidirectional trajectory planning method was used to plan a forward trajectory and a reverse trajectory for the actuated variable.Then,the particle swarm algorithm was used to optimize the trajectory parameters for ensuring the two trajectories being able to be smoothly combined into a complete trajectory.Finally,an active disturbance rejection tracking controller was designed to enable the manipulator to accurately track the optimized trajectory in the presence of external disturbances and unmeasurable angular velocity,realizing the vibration suppression and stable control of the manipulator.The simulation and comparison results show that the proposed control method has better vibration suppression effect and robustness.

关 键 词：柔性机械臂 轨迹规划 振动抑制 自抗扰 欠驱动系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]