模糊PI控制器与干扰观测器相结合的空间柔性机械臂的转动控制策略  

Rotation control strategy for a space-flexible robotic arm combining fuzzy PI controller and disturbance observer

作　　者：上官朝伟 李小彭[1,2] 李泉 尹猛 SHANGGUAN Chaowei;LI Xiaopeng;LI Quan;YIN Meng(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China;School of Mechanical Engineering,Ningxia Institute of Science and Technology,Shizuishan 753000,China;Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819 [2]宁夏理工学院机械工程学院,宁夏石嘴山753000 [3]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《中南大学学报（自然科学版）》2023年第12期4687-4698,共12页Journal of Central South University:Science and Technology

基　　金：辽宁省应用基础研究计划项目(2023JH2/101300159);宁夏回族自治区自然科学基金资助项目(2023AACO3371)。

摘　　要：为了减少外部干扰对空间柔性机械臂的系统误差,提高系统的控制精度,提出了一种模糊PI控制器与干扰观测器相结合的转动控制策略。首先,采用假设模态法和拉格朗日方法,建立了含有干扰力矩的空间柔性机械臂的初始动力学模型;其次,提出了分别忽略二维变形和忽略非线性项的2种简化动力学模型,并通过仿真分析对比2种简化模型的建模精度;第三,基于极点配置方法和模糊规则设计了模糊PI控制器,并基于系统的名义模型设计了干扰观测器;最后,通过仿真分析和地面物理样机实验验证了该方法的有效性。研究结果表明:忽略非线性项的简化模型与初始模型具有相似的建模精度,极大地降低了计算难度,能够代替初始模型进行控制系统的设计;模糊PI控制器与干扰观测器相结合的转动控制策略能够实时调整控制器参数,观测并补偿干扰力矩引起的系统误差,有效提高系统的控制精度。In order to reduce the systematic error of space-flexible robotic arms(SFRA) by external disturbances and to improve the control accuracy of the system,a rotation control strategy combining fuzzy PI controller and disturbance observer was proposed.Firstly,the initial dynamics model of the SFRA containing disturbance torque was established by using the assumed mode method and the Lagrange principle.Secondly,two simplified dynamics models that ignore two-dimensional deformation and ignore non-linear terms were proposed,respectively,and the modeling accuracy of the two simplified models was compared by simulation analysis.Thirdly,a fuzzy PI controller was designed based on the pole placement method and introducing fuzzy rules,and a disturbance observer was designed based on the nominal model of the system.Finally,the effectiveness of the rotation control strategy was verified by simulation analysis and ground physical prototype experiment.The results show that the simplified model ignoring the nonlinear terms has similar modeling accuracy compared with the initial model,which greatly reduces the computational difficulty and can replace the initial model for the design of the control system.The rotational control strategy can adjust the controller parameters in real time,observe and compensate for the system error caused by the disturbance torque,and improve the control accuracy of the system effectively.

关 键 词：空间柔性机械臂 转动控制策略 简化动力学模型 模糊PI控制器 

分 类 号：TH113.1[机械工程—机械设计及理论] TP13[自动化与计算机技术—控制理论与控制工程]