喷砂除锈并联机构抗非匹配干扰自适应反步滑模控制  

Adaptive Backstepping Sliding Mode Control for Sand Blasting and Rust Removal Parallel Mechanism Against Mismatched Interference

作　　者：张文杰 高国琴[1] ZHANG Wenjie;GAO Guoqin(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013

出　　处：《软件导刊》2023年第11期110-117,共8页Software Guide

基　　金：国家自然科学基金项目(51375210);镇江市重点研发计划项目(GZ2018004)。

摘　　要：针对喷砂除锈并联机构喷枪末端存在的射流反作用力非匹配干扰问题,提出一种结合扩张状态观测器的并联机构抗非匹配干扰自适应反步滑模控制方法。首先利用并联机构杆长约束及几何关系,采用解析法对Stewart六自由度并联机构进行运动学分析,并采用拉格朗日法建立具射流反作用力非匹配干扰喷砂除锈并联机构的动力学模型;然后设计扩张状态观测器实现对非匹配干扰的在线估计,在反步设计过程中基于非匹配干扰估计值设计中间虚拟控制量,以对并联机构系统的非匹配干扰进行补偿,通过设计自适应律动态调整滑模控制切换增益,以达到抑制滑模控制抖振的效果。通过仿真与实验验证,结果表明,该方法能够使喷砂除锈并联机构在喷砂射流反作用力强烈干扰下具有良好的系统鲁棒性和轨迹跟踪效果。In order to solve the problem of jet reaction force mismatching disturbance at the end of the spray gun of the parallel mechanism for sandblasting and derusting,an adaptive backstepping sliding mode control method for the parallel mechanism with expanded state observer is proposed.Firstly,by using the bar length constraint and geometric relationship of the parallel mechanism,the kinematics of Stewart 6-DOF parallel mechanism is analyzed by analytical method,and the dynamic model of parallel mechanism with unmatched interference sandblasting derusting with jet reaction force is established by Lagrangian method.Then an extended state observer is designed to realize the on-line estimation of the mismatched disturbance,and the intermediate virtual control quantity is designed based on the estimated value of the mismatched disturbance in the backstepping design process to compensate the mismatched interference of the parallel mechanism system.the switching gain of sliding mode control is dynamically adjusted by designing adaptive law to achieve the effect of suppressing chattering of sliding mode control.The simulation and experimental results show that this method can make the sandblasting derusting parallel mechanism have good system robustness and trajectory tracking effect under the strong interference of sandblasting jet reaction force.

关 键 词：并联机构 非匹配干扰 扩张状态观测器 反步法 滑模控制 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]