基于扰动观测器的铆接机器人轨迹跟踪控制  

Disturbance observer based trajectory tracking control for a riveting robot

作　　者：李宗刚[1,2] 李龙雄 杜亚江[1,2] 陈引娟[1,2] LI Zonggang;LI Longxiong;DU Yajiang;CHEN Yinjuan(School of Mechatronic Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robot Research Institute,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电工程学院,兰州730070 [2]兰州交通大学机器人研究所,兰州730070

出　　处：《振动与冲击》2023年第14期296-305,共10页Journal of Vibration and Shock

基　　金：国家自然科学基金(61663020);甘肃省高等学校产业支撑计划项目(2022CYZC-33);大连理工大学工业装备结构分析国家重点实验室开放课题(ZG22119);兰州交通大学百名青年优秀人才培养计划(1520220305);兰州交通大学军民融合创新团队培育基金(JMTD202211)。

摘　　要：为解决铆接机器人工作时外部干扰造成系统抖震大,轨迹跟踪精度较低问题,设计一种扰动观测器与分数阶滑模控制器组合的自适应控制方法。首先,通过引入时延估计策略建立铆接机器人的局部动力学模型,利用扰动观测器实时观测系统模型所受的可见干扰;其次,针对系统产生的抖震问题,设计分数阶滑模面替代传统滑模控制,采用新型趋近律使系统在切换面上能够连续平稳运动,针对系统所受的不可见干扰,设计自适应策略实现对外部干扰的完全补偿;最后,通过Lyapunov函数证明所设计控制器的有效性。以三自由度机器人进行仿真及实体试验,结果表明,相较于分数阶滑模控制,采用该控制器后机器人各关节的追踪误差峰值分别下降了50%,59%和63%,从而验证了该控制器不仅能有效消除系统所受较大干扰产生的抖震问题,而且提高了铆接机器人作业时的鲁棒性和轨迹跟踪精度。In order to solve the problem of higher chatter and lower trajectory tracking accuracy caused by external disturbances during the operation of a riveting robot,an adaptive control method consisting of a disturbance observer and a fractional-order sliding mode controller was designed.Firstly,the local dynamics model of the riveting robot was established by introducing the time delay estimation strategy,and the visible disturbances to the system model were observed in real time by using the disturbance observer.Then,a fractional-order sliding mode surface was designed to replace the traditional sliding mode control for the chatter,and a new convergence law was used to make the system move continuously and smoothly on the switching surface,and the adaptive strategy was designed to fully compensate for the external disturbances.Finally,the effectiveness of the designed controller was demonstrated by the Lyapunov function.The results show that the peak tracking errors at each joint of the robot are reduced by 50%,59%and 63%respectively,compared with the conventional fractional-order sliding mode control.The controller can not only effectively eliminate the chattering problem caused by the large interference of the system,but also improve the robustness and trajectory tracking accuracy of the riveting robot.

关 键 词：铆接机器人 轨迹跟踪 时延估计 扰动观测器 分数阶滑模控制 

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