考虑关节柔性的绳驱动空中机械臂关节空间鲁棒控制  

Robust control for a cable-driven aerial manipulator with joint flexibility in joint space

作　　者：姚勇 丁力 马瑞 王尧尧 YAO Yong;DING Li;MA Rui;WANG Yao-yao(College of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]江苏理工学院机械工程学院,江苏常州213001 [2]南京航空航天大学机电学院,南京210016

出　　处：《控制与决策》2023年第4期971-979,共9页Control and Decision

基　　金：国家自然科学基金项目(52005231,52175097);常州市社会发展科技支撑项目(CE20215050)。

摘　　要：空中机械臂在外部环境交互作业方面表现出很强的研究和应用价值,但当前系统位姿控制性能较弱、负载能力不足以及续航时间短的问题严重制约其作业能力的提升.鉴于此,设计一种带有绳驱动机械臂的新型空中机械臂系统,并将引入绳驱动机制带来的柔性效应等价到关节处,建立考虑关节柔性的刚柔耦合动力学模型.首先,针对系统在集总干扰下的关节空间轨迹跟踪控制,采用线性扩张状态观测器对集总干扰进行估计和补偿,并采用超螺旋算子和分数阶非奇异终端滑模以保证系统在到达阶段和滑模阶段均有较好的控制性能;然后,在Lyapunov稳定性框架下验证所设计控制器的稳定性;最后,通过可视化仿真和地面实验对所设计控制器的有效性进行验证.实验结果表明,所设计的鲁棒控制器比其他两种现有的控制器具有更快的响应速度、更强的抗干扰能力以及更高的跟踪精度,能够满足绳驱动空中机械臂的控制需求.Aerial manipulator shows intense research value and application value in terms of interacting with the external environment.However,the improvement of operation ability of the rotary-wing flight robot is restricted at present,which is caused by the weak pose control performance,insufficient load capacity,and short endurance time.This paper designs a novel cable-driven aerial manipulator system.Considering the flexibility of cable-driven mechanism,a rigid-flexible coupling dynamics model has been established considering the joint flexibility.To address the trajectory tracking control issue in joint space under lumped disturbances,a linear extended state observer is adopted to estimate and compensate the lumped disturbances.Meanwhile,a super-twisting algorithm and fractional-order non-singular terminal sliding mode are used to ensure good control performance in both the reaching phase and the sliding mode phase.Furthermore,the stability of the proposed controller is proven with the Lyapunov theory.Finally,the effectiveness of the proposed controller is verified through visual simulation and ground test.All the results show that the proposed controller has faster response speed,stronger disturbance rejection ability,and higher tracking accuracy compared to other common controllers,which can satisfy the control requirements of the cable-driven aerial manipulator.

关 键 词：空中机械臂 绳驱动 分数阶 非奇异终端滑模 线性扩张状态观测器 超螺旋算子 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]