剪叉平台上机械臂的滑模神经网络控制  

Sliding Mode Neural Network Control of Manipulator on Scissor Platform

作　　者：柴晓峰 张锦 龚霖[1] 殷玉枫 武奎扬[1] CHAI Xiao-feng;ZHANG Jin;GONG Lin;YIN Yu-feng;WU Kui-yang(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;Shanxi Vocational and Technical College of Transportation,Taiyuan 030031,China)

机构地区：[1]太原科技大学机械工程学院,太原030024 [2]山西交通职业技术学院,太原030031

出　　处：《太原科技大学学报》2023年第5期447-451,共5页Journal of Taiyuan University of Science and Technology

基　　金：国家自然科学基金(U1610118);山西省交通运输厅科技计划(2019-1-9)。

摘　　要：我国以往隧道灯的拆卸工作都是采用脚手架或高车加人工操作装置来完成,但在高空作业过程中会存在安全隐患,剪叉平台上的研究应该提上日程。考虑到剪叉平台的柔性特性,在平台达到预定的工作位置时,由于剪叉平台产生振动,从而影响机械臂末端跟踪精度。用拉格朗日原理推导了剪叉机构上的机械臂的动力学方程。在滑模控制策略的基础上,设计了新型指数趋近律,提升了机械臂末端轨迹的跟踪速度。针对系统建模过程中存在的建模误差以及系统外部存在的不确定干扰等不确定因素,用神经网络自适应控制对参数进行在线调整。通过MATLAB/Simulink进行仿真,结果表明了该控制策略能够有效的降低机械臂末端轨迹跟踪误差,且明显加快末端点的跟踪响应速度。In the past,the disassembly of tunnel lights in our country was done using scaffolding or high-speed vehicles and manual operation devices,but there exist safety hazards in the process of high-altitude operations,and the research on the scissor platform should be put on the agenda.Taking into account the flexibility of the scissor platform,when the platform reaches a predetermined working position,the scissor platform will vibrate,which will affect the tracking accuracy of the end of the robotic arm.In this paper,Lagrange s principle is used to derive the dynamic equation of the manipulator on the scissor mechanism.Based on the sliding mode control strategy,a new type of exponential reaching law is designed to improve the tracking speed of the end trajectory of the manipulator.Aiming at the uncertain factors such as the modeling error existing in the system modeling process and the uncertain interference existing outside the system,neural network adaptive control is used to adjust the parameters online.Through MATLAB/Simulink simulation,the results show that this control strategy can effectively reduce the tracking error of the end of the manipulator,and significantly speed up the tracking response speed of the end point.

关 键 词：剪叉机构 机械臂 指数趋近律 滑模 神经网络 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]