基于虚拟分解的液压机械手RISE渐近跟踪控制  

Virtual Decomposition Based RISE Control of Hydraulic Manipulators with Asymptotic Tracking

作　　者：樊雕 姚建勇[1] 邓文翔 FAN Diao;YAO Jianyong;DENG Wenxiang(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机床与液压》2023年第23期1-9,共9页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51905271);国家自然科学基金面上项目(52075262)。

摘　　要：多自由度液压机械臂是一个多输入多输出、强非线性、强耦合的机电液复杂非线性系统,对液压机械臂精确控制是极富挑战的任务。提出一种基于虚拟分解的误差符号积分鲁棒控制方法用于液压机械手系统的高精度跟踪控制。考虑三关节之间的动力学耦合、液压作动器动态和摩擦效应,首先基于虚拟分解建立液压机械手的运动学和动力学数学模型,基于虚拟功率流保证子系统和整个系统的L_(2)和L_(∞)稳定性,设计虚拟控制方法。然后进一步将关节之间的耦合作用融入到鲁棒控制器设计之中,发展出基于虚拟分解的误差符号积分鲁棒控制方法,进一步增强了关节位置跟踪能力。基于Lyapunov理论证明该控制方法可实现位置跟踪误差的渐近收敛。对比仿真结果表明,提出的基于虚拟分解的鲁棒积分控制器具有优异的渐近跟踪性能。The multi-degree-of-freedom hydraulic manipulator is a complex electro-mechanical-hydraulic nonlinear system with multiple inputs and multiple outputs,strong nonlinearity and strong coupling.The precise control of the hydraulic manipulator is a very challenging task.A robust integral of the sign of the error(RISE)based on virtual decomposition was proposed for high-precision tracking control of hydraulic manipulator systems.Considering the dynamic coupling between the three joints,the dynamics of the hydraulic actuator and the friction effect,the kinematic and dynamic mathematical model of the hydraulic manipulator was established based on the virtual decomposition.Based on the virtual power flow to make the subsystem and the whole system satisfy L_(2) and L_(∞) stability,a virtual control method was designed.Then,the coupling effect between joints was integrated into the robust controller design,and a robust integral of the sign of the error control method based on virtual decomposition was developed,which further enhanced the joint position tracking ability.Based on Lyapunov theory,it is proved that the control method can achieve asymptotic convergence of position tracking error.The comparative simulation results show that the proposed robust integrator controller based on virtual decomposition has excellent asymptotic tracking performance.

关 键 词：液压机械臂 虚拟分解 积分鲁棒控制 渐近收敛 

分 类 号：TH137[机械工程—机械制造及自动化]