移动装配机器人手臂的滑模鲁棒控制方法  

The method of sliding mode robust control for mobile assembly robot manipulator

作　　者：楚雪平 CHU Xueping(Research Center of Henan CNC Engineering Technology,Zhengzhou 450001,China;School of Intelligent Manufacturing,Henan Polytechnic College,Zhengzhou 450046,China)

机构地区：[1]河南省数控技术工程技术研究中心,郑州450001 [2]河南职业技术学院智能制造学院,郑州450046

出　　处：《现代制造工程》2023年第6期39-45,共7页Modern Manufacturing Engineering

基　　金：河南省科技攻关项目(202102210114)。

摘　　要：为了克服外界干扰、未知负载等不确定性和电机动态特性对移动装配机器人手臂末端空间轨迹跟踪的影响,提出了一种基于扩张状态观测器的滑模鲁棒控制律。首先建立了包含不确定性和电机动态特性的数学模型,然后设计了扩张状态观测器来准确估计不确定性,在此基础上提出了滑模鲁棒控制律,最终实现了对移动装配机器人手臂末端空间轨迹跟踪的高精度控制。仿真结果表明,所设计的滑模鲁棒控制律具有更优的控制效果,移动装配机器人手臂末端空间轨迹的最大跟踪误差仅为0.5 cm,所设计的扩张状态观测器能够准确估计不确定性,最大估计误差仅为0.2 N·m,估计精度较高。移动装配机器人手臂空间固定坐标定位实验结果表明,在基于扩张状态观测器的滑模鲁棒控制律的作用下,移动装配机器人手臂末端空间轨迹的最大跟踪误差仅为0.24 cm,平均每次定位的运行时间仅为1.55 s,表现出了更优的快速性、准确性和工程实用性。To overcome the influence of uncertainties,such as external interference,unknown load and motor dynamic characteristics on the spatial trajectory tracking of mobile assembly robot manipulator end,a sliding mode robust control law based on extended state observer was proposed.Firstly,a mathematical model containing the uncertainties and dynamic characteristics of the motor was established,and then an extended state observer was designed to accurately estimate the uncertainties.Based on this,a sliding mode robust control law was proposed to achieve the high precision control of the spatial trajectory tracking for mobile assembly robot manipulator end.The simulation results show that the desinged sliding mode robust control law has better control effect,and the maximum spatial trajectory tracking error of the mobile assembly robot manipulator end is only 0.5 cm;the designed extended state observer can accurately estimate the uncertainties,and the maximum estimation error is only 0.2 N·m,which indicated a high estimation accuracy.The positioning experimental results of space fixed coordinate for mobile assembly robot manipulator under the action of sliding mode robust control law based on extended state observer show that the maximum spatial trajectory tracking error of the robot manipulator end is only 0.24 cm,and the average running time of each positioning is only 1.55 s,which shows better rapidity,accuracy and engineering practicability.

关 键 词：移动装配机器人手臂 不确定性 电机动态特性 轨迹跟踪 扩张状态观测器 滑模鲁棒控制律 

分 类 号：TM39[电气工程—电机]