柔性机械臂系统双时标模型的H∞鲁棒控制  

Flexible Manipulator H∞ Robust Control Under Double Time Scale Model

作　　者：顾振宇[1] 李斌 GU Zhen-yu;LI Bin(Yongcheng Vocational College,He'nan Yongcheng 476600,China;Dongguan Polytechnic,Guangdong Dongguan 523808,China)

机构地区：[1]永城职业学院,河南永城476600 [2]东莞职业技术学院,广东东莞523808

出　　处：《机械设计与制造》2023年第3期58-62,共5页Machinery Design & Manufacture

基　　金：2020年度广东省普通高校特色创新项目(2020KTSCX320)。

摘　　要：为了减小柔性机械臂转动时的振动和调节时间,实现柔性机械臂的精确控制,设计了自适应滑模-H∞鲁棒组合控制器。使用奇异摄动法建立了柔性机械臂系统的双时标模型。对于慢时变子系统,设计了幂次随系统状态自适应调整的趋近律,得到了基于自适应滑模变结构的慢时变子系统控制方法;对于快时变子系统,考虑到模型不确定问题,设计了γ次优H∞鲁棒控制器;将自适应滑模控制器与H∞鲁棒控制器进行组合,得到针对双时标模型的组合控制器。经仿真验证,对于刚性机械臂的阶跃输入,自适应滑模控制器的调节时间和超调量小于传统幂次趋近滑模控制器;对于模型不确定的柔性机械臂系统,组合控制器的振动幅度小、调节时间短、鲁棒性强,验证了H∞鲁棒控制器在柔性机械臂控制中的优越性。In order to reduce the vibration and adjustment time of flexible manipulator and realize the precise control of flexible manipulator,an adaptive sliding mode H∞ robust combined controller is designed. The double time scale model of flexible manipulator system is established by using singular perturbation method. For the slow time-varying subsystem,the reaching law of power adaptive adjustment with the system state is designed,and the control method of slow time-varying subsystem based on adaptive sliding mode variable structure is obtained;For the fast time-varying subsystem,the γ suboptimal H∞ robust controller is designed considering the model uncertainty. The adaptive sliding mode controller and H∞ robust controller are combined to obtain the combined controller for the double time scale model. The simulation results show that for the step input of the rigid manipulator,the adjusting time and overshoot of the adaptive sliding mode controller are less than those of the traditional power approaching sliding mode controller;For the flexible manipulator system with model uncertainty,the combined controller has small vibration amplitude,short adjustment time and strong robustness. The superiority of H∞ robust controller in flexible manipulator control is verified.

关 键 词：柔性机械臂 双时标模型 自适应滑模控制 H∞鲁棒控制器 组合控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]