变质心喷砂除锈移动平台自适应全局鲁棒超螺旋滑模控制  

Adaptive Global Robust Super-twisting Sliding Mode Control for Centroid Variation of Sandblasting and Rust Removal Mobile Platform

作　　者：王永尚 高国琴[1] 方志明[1] WANG Yong-shang;GAO Guo-qin;FANG Zhi-ming(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013

出　　处：《软件导刊》2022年第10期156-164,共9页Software Guide

基　　金：国家自然科学基金项目(51375210);镇江市重点研发计划项目(GZ2018004)。

摘　　要：由于喷砂除锈并联机器人移动平台的质心会随升降机运动而变化,为实现高性能轨迹跟踪控制变质心移动平台,提出一种自适应全局鲁棒超螺旋滑模控制算法。首先,根据移动平台质心坐标与轨迹跟踪参考点的几何位置关系推导质心速度方程,建立考虑质心变化的移动平台动力学模型。然后,基于该模型设计一种自适应全局鲁棒超螺旋滑模控制算法,并在全局滑模面中引入超螺旋滑模控制消除趋近阶段,保证系统全局鲁棒性。最后,引入切换增益自适应律提高系统收敛速度。实验结果表明,该算法既能增强系统鲁棒性,又改善了轨迹跟踪的动态品质,并采用Lyapunov直接法证明系统能在有限时间内渐进稳定,为处理移动平台质心变化提供新的方法。Because the center of mass of the moving platform of the parallel robot for sand blasting and rust removal will change with the movement of the elevator,an adaptive global robust hyper spiral sliding mode control algorithm is proposed to realize high-performance trajectory tracking and control of metacentric mobile platforms. Firstly,according to the geometric position relationship between the centroid coordinates of the mobile platform and the trajectory tracking reference point,the centroid velocity equation is derived,and the dynamic model of the mobile platform considering the change of the centroid is established. Then,adaptive global robust super spiral sliding mode control algorithm is designed based on the model,and the super spiral sliding mode control is introduced into the global sliding mode surface to eliminate the approach phase,so as to ensure the global robustness of the system. Finally,the switching gain adaptive law is introduced to improve the convergence speed of the system. The experimental results show that the algorithm can not only enhance the robustness of the system,but also improve the dynamic quality of the trajectory tracking. The Lyapunov direct method is used to prove that the system can be gradually stable in limited time,which provides a new method to deal with the change of the center of mass of the mobile platform.

关 键 词：移动平台 质心变化 全局鲁棒超螺旋滑模 切换增益自适应律 移动机器人控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]