双连杆柔性关节机械臂分数阶线性自抗扰控制  

Fractional-Order Linear Active Disturbance Rejection Control of Dual Linkage Flexible Joint Manipulator

作　　者：陈志环 戴雪刚 董加顺 CHEN Zhihuan;DAI Xuegang;DONG Jiashun(Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金自动化与检测技术教育部工程研究中心,武汉430081 [2]武汉科技大学机器人与智能系统研究院,武汉430081

出　　处：《组合机床与自动化加工技术》2023年第7期147-151,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(62203339,62073250,62003249,62173262);湖北省重点研发计划项目(2020BAB021)。

摘　　要：针对双连杆柔性关节机械臂的柔性振动和受外部干扰的问题,提出了一种复合控制器的控制策略。通过拉格朗日方程建立了考虑关节柔性的刚柔耦合的机械臂动力学模型,使用奇异摄动法对机械臂系统解耦,使其分解成代表刚性部分的慢速子系统和代表柔性部分的快速子系统;对于慢速子系统,设计了带有前馈补偿的分数阶线性自抗扰控制器来抵抗内外扰动,实现了机械臂的高精度的轨迹跟踪,对于快速子系统,采用微分补偿项补偿,来抑制关节的柔性振动,从而达到系统稳定。实验和仿真结果表明,系统可以有效地实现双连杆柔性关节机械臂的轨迹跟踪,并且相对于整数阶线性自抗扰控制器有着更好的动态性能和鲁棒性。A control strategy of a composite controller is proposed for the flexible vibration and external interference of the dual linkage flexible joint manipulator.First,the Lagrange equation establishes a rigid-soft coupling model of the robotic arm using the Lagrange equation,and then decouples the robotic arm system using the singular perturbation method to decompose it into a slow subsystem representing the rigid part and a fast subsystem representing the flexible part.For the slow subsystem,a fractional-order linear active disturbance rejection controller with feed-forward compensation is designed to resist internal and external disturbances,and the high-precision trajectory tracking of the robot arm is realized.For fast subsystems,differential compensation is used to suppress flexible vibrations of the joints,thereby achieving system stability.Finally,the simulation study and comparative experiment of the designed composite controller show that the system can effectively realize the trajectory tracking of the dual linkage flexible joint manipulator and has better dynamic performance and robustness than the integer order linear active disturbance rejection controller.

关 键 词：双连杆柔性关节机械臂 奇异摄动法 分数阶线性自抗扰控制器 轨迹跟踪 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]