基于快速终端滑模的机器人柔顺磨抛阻抗控制  

Impedance Control of Compliant Polishing Robot Based on Fast Terminal Sliding Mode

作　　者：邓建新[1,2] 袁邦颐 黄秋林 丁度坤 DENG Jianxin;YUAN Bangyi;HUANG Qiulin;DING Dukun(Guangxi Key Lab of Manufacturing System&Advanced Manufacturing Technology,Guangxi University,Nanning 530004,China;School of Mechanical Engineering,Guangxi University,Nanning 530004,China;School of Electronic Information,Dongguan Polytechnic,Dongguan 523808,China)

机构地区：[1]广西大学广西制造系统与先进制造技术重点实验室,南宁530004 [2]广西大学机械工程学院,南宁530004 [3]东莞职业技术学院电子信息学院,东莞523808

出　　处：《组合机床与自动化加工技术》2023年第11期79-83,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：为提高磨抛机器人在未知干扰和建模不确定性下的动态柔顺性能,实现高精度的自动磨抛,提出了一种主动柔顺模糊自适应变阻抗控制方法。以阻抗控制为基础,引入快速终端滑模进行运动控制,以提升控制系统鲁棒性与响应速度,基于指数趋近率,采用连续的双曲正切函数代替符号函数建立带有抑制抖振功能的控制律;在此基础上,采用模糊控制调节阻抗参数来提高系统响应时间和减少超调量,设计了模糊自适应变阻抗模块,定义了模糊规则。通过李雅普诺夫函数验证了控制器稳定性。进行了Simulink仿真对比实验,结果表明,相较于PID,所提方法在响应速度方面提高了37.2%,超调量降低了20.5%,累计误差方面也有明显改善,有利于提高磨抛表面的一致性和磨抛精度。In order to improve the dynamic performance of the polishing robot control system in the presence of unknown disturbances and modeling uncertainties,a proactive compliant fuzzy adaptive impedance control method was proposed,and achieve high-precision automatic polishing.This method introduced fast terminal sliding mode in impedance control for motion control,enhancing the robustness and response speed of the control system.A control law with anti-vibration function was designed based on exponential convergence rate,and its stability was verified through Lyapunov function.Then,a fuzzy adaptive impedance module was designed to further optimize the dynamic performance of the control system.Simulink simulation results showed that compared to PID,the proposed method improved the response speed by 37.2%,reduced overshoot by 20.5%,and significantly improved the cumulative error,which is of great significance for improving the consistency and accuracy of polishing surface.

关 键 词：磨抛机器人 阻抗控制 主动柔顺 快速终端滑模 模糊控制 

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]